diff --git "a/log_prompt_pairs_train.json" "b/log_prompt_pairs_train.json"
--- "a/log_prompt_pairs_train.json"
+++ "b/log_prompt_pairs_train.json"
@@ -1,8402 +1,8402 @@
 {
-    "ab8c747b-b9cb-3835-a275-54c56cb9a469": [
-        "pedestrian to the left of a truck",
-        "vehicle with a bicycle to its right",
-        "parked box trucks",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "regular vehicles that are stopped or nearly stopped",
-        "ego vehicle approaching stopped delivery truck",
-        "stop sign behind a pedestrian",
-        "pedestrian near stop sign",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "regular vehicle turning right"
-    ],
-    "a4f72852-c2ff-35d3-8375-e52055508240": [
-        "box trucks within 10 meters of an intersection",
-        "vehicle near multiple bollards",
-        "vehicle facing the ego vehicle",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle two cars ahead is braking",
-        "vehicle moving at crawling speed",
-        "active vehicle at stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle with a bicycle to its right"
-    ],
-    "a88da814-ecc6-39c0-93ba-8a81f403a7e4": [
-        "motorcycle overtaking a vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "bicycle behind a bus",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "dog near an intersection",
-        "dog",
-        "dog near pedestrian",
-        "bicycle near a bus",
-        "bicycle being overtaken",
-        "bicycle in same lane as a vehicle"
-    ],
-    "c71cd96c-8e3f-3861-9ece-fcbabebc63a8": [
-        "pedestrian to the left of a truck",
-        "passenger vehicle swerving left",
-        "accelerating vehicle changing lanes to the right",
-        "pedestrians over 30 meters away",
-        "parked vehicle",
-        "vehicle braking heavily",
+    "4e1ac476-80a2-3612-bfd7-1abd24d2b644": [
+        "vehicle turning left with a bicycle in front of it",
+        "ego vehicle approaching cyclist in same lane",
+        "pedestrian crossing at bollard",
         "the active vehicle in front of the vehicle ahead",
-        "vehicle facing toward parked vehicles",
-        "car turning right",
+        "bicycle traveling alongside parked vehicles",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "accelerating truck",
+        "bicycle near traffic cone",
+        "bicycle crossing vehicle path at intersection",
         "truck on intersection"
     ],
-    "e0ba7664-d287-39df-8193-00d60cae1417": [
-        "ego vehicle two cars ahead of another vehicle",
-        "dog near pedestrian",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle turning left with a bicycle in front of it",
-        "pedestrian with multiple dogs",
-        "bicycle facing toward a vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "bicycle facing toward moving traffic",
-        "vehicle traveling over 20 meters per second",
-        "bicycle in same lane as a vehicle"
+    "1a4e2d86-23d4-3a0d-a9ac-8b0936ae94ce": [
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "pedestrian between moving vehicles on both sides",
+        "active vehicle at stop sign",
+        "pedestrian near bollard",
+        "jaywalking pedestrian",
+        "stroller",
+        "vehicle hard braking with another vehicle ahead"
     ],
-    "c67f439a-f945-33cb-8517-40c9fdf60d59": [
-        "bicyclist changing lanes to the right",
-        "bicycle sharing lane as a regular vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "pedestrian crossing ahead of ego vehicle",
+    "c0d36fde-5672-430a-9dd1-3e2a5d4f6cab": [
         "bicycle in vehicle lane with vehicle",
-        "bicycle in same lane as a vehicle",
-        "bicyclist within 3 meters on either side",
-        "bicycle following closely behind a vehicle",
-        "vehicle at a stop sign",
-        "pedestrian crossing in front of cyclist near intersection"
+        "group of three people",
+        "bicycle facing toward a vehicle",
+        "bicyclist riding in vehicle lane",
+        "ego vehicle near construction cone",
+        "pedestrian with wheelchair at crosswalk",
+        "ego vehicle near bollard",
+        "vehicle in close proximity to bicycle",
+        "pedestrian near construction cone",
+        "dog on roadway"
     ],
-    "3b2994cb-5f82-4835-9212-0cac8fb3d164": [
+    "0a8a4cfa-4902-3a76-8301-08698d6290a2": [
+        "vehicle being tailgated while approaching stopped traffic",
+        "bicycle passing by parked vehicle",
+        "pedestrian facing toward ego vehicle",
+        "vehicle turning left",
+        "passenger vehicle swerving left",
         "bicyclist changing lanes to the right",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicyclist on intersection",
-        "bicyclist within 3 meters on either side",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle near traffic cone",
-        "vehicle with multiple construction cones on the left side",
-        "motorcycle between stopped vehicles",
-        "ego vehicle changing lanes near bicycle while approaching stop sign",
-        "vehicles being passed by a motorcycle on either side"
-    ],
-    "a7c9bb12-322e-3f8e-8798-cf57a4a72f99": [
-        "bicycle in vehicle lane with vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist riding in vehicle lane",
-        "bicycle in same lane as a vehicle",
-        "bicycle traveling with vehicle traffic",
-        "bicycle on intersection",
-        "bicycle sharing lane as a regular vehicle",
-        "motorcycle near construction cone",
-        "motorcycle at stop sign",
-        "pedestrian turning and watching the ego vehicle"
+        "ego vehicle near construction cone",
+        "vehicle braking at pedestrian crossing",
+        "vehicle facing toward parked vehicles",
+        "vehicle two cars ahead is braking"
     ],
-    "ff8e7fdb-1073-3592-ba5e-8111bc3ce48b": [
-        "pedestrian with multiple dogs",
+    "fa708289-f2b2-399e-989e-53f83fa379c5": [
+        "bus in the same lane as a truck",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "pedestrian walking with stroller",
+        "box truck braking in front of ego vehicle",
+        "vehicle turning left at intersection while sharing lane with a bus",
         "vehicle near construction barrel",
-        "vehicle with animal in front",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "bicycle facing toward a vehicle",
-        "group of three people",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian walking with dog on sidewalk",
-        "passenger vehicle turning left at intersection",
-        "bicycle and vehicle traveling in bike lane"
+        "vehicle stopped at construction barrel",
+        "vehicle accelerating towards pedestrian crossing",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle with vehicles on both sides"
     ],
-    "47972731-b0ea-3c38-a10f-5ffdd42329fc": [
-        "truck on intersection",
-        "ego vehicle approaching stopped truck",
-        "vehicle being tailgated while approaching stopped traffic",
-        "truck without trailer",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "truck sharing a lane with another truck",
-        "vehicle stopped at a stop sign",
-        "truck cab with trailer sharing lane with regular vehicle",
+    "902d5e72-b665-3615-af2d-a2b6164864b2": [
         "box truck changing lanes ahead",
-        "box truck changing lanes to the right"
-    ],
-    "47167c79-2ba4-369c-8db8-760a30b4c38a": [
-        "jaywalking pedestrian",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle facing and heading toward pedestrian group",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle to the back right of the ego vehicle",
         "pedestrians facing each other at close range, possibly conversing",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "car turning right",
-        "vehicle making a right turn"
-    ],
-    "9158b740-6527-3194-9953-6b7b3b28d544": [
-        "vehicle braking at pedestrian crossing",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "bus with another bus in its lane",
-        "pedestrian walking alongside stopped bus",
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrian on road not facing traffic",
-        "multiple pedestrians crossing ahead",
-        "vehicle braking near pedestrian crossing",
-        "car driving in bus lane",
-        "vehicle turning right at stop sign"
+        "group of people",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle braking at pedestrian crossing"
     ],
-    "91cded81-9f72-3930-bab7-5d3e3fa0a220": [
-        "construction item on road",
-        "pedestrian near bollard",
-        "vehicle with multiple bicycles ahead",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "bicycle following closely behind a vehicle",
-        "bicycle facing toward moving traffic",
-        "ego vehicle changing lanes near construction zone"
+    "76038978-47aa-30ed-bfa1-2d63753a866c": [
+        "vehicle maneuvering between construction barriers",
+        "pedestrian walking alongside bollard",
+        "pedestrian to the back-right of the ego vehicle",
+        "bus within 5 meters to either side of ego vehicle",
+        "box truck changing lanes to the left",
+        "vehicle turning right near construction zone",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle changing lanes near construction zone",
+        "stop sign behind a pedestrian",
+        "pedestrians using designated crossing"
     ],
-    "bba89165-0e5d-3052-abb6-6a61e37861a3": [
-        "vehicle near construction barrel",
-        "stationary object",
-        "parked vehicle",
-        "ego vehicle near construction barrel",
-        "stationary construction barrel",
-        "ego vehicle two cars ahead of another vehicle",
-        "dog near an intersection",
+    "93b755f1-f865-44dc-a98d-cae5eb1a25d0": [
+        "group of pedestrians ahead of the ego vehicle",
+        "ego vehicle with vehicles on both sides",
+        "ego vehicle changing lanes to the left",
         "dog",
+        "pedestrian approaching a parked vehicle",
+        "dog near pedestrian",
+        "stop sign behind a pedestrian",
+        "vehicle turning right at stop sign",
+        "group of people",
+        "pedestrian near stop sign"
+    ],
+    "aa105408-2974-35e7-ae76-35060cfde21a": [
+        "bicycle in vehicle lane with vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "ego vehicle approaching cyclist in same lane",
         "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "bicycle on intersection"
+        "accelerating truck",
+        "bicycle crossing vehicle path at intersection",
+        "vehicle stopped at a stop sign",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicyclist on intersection",
+        "bicycle sharing lane as a regular vehicle"
     ],
-    "a0cb0614-ee71-3cf3-b891-a4274883362f": [
-        "vehicle facing the ego vehicle",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "parked vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "stationary object",
-        "accelerating passenger vehicle",
-        "multiple pedestrians crossing ahead",
-        "vehicle braking near pedestrian crossing"
+    "41b6f7d7-e431-3992-b783-74b9edf42215": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle two cars ahead is braking",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "regular vehicle turning right",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle stopped at a stop sign",
+        "group of people",
+        "active vehicle at stop sign",
+        "pedestrian walking past right side of vehicle"
     ],
-    "a3001373-ae03-3827-8e25-3da1720074ca": [
+    "5aed7fcd-651c-38a7-9523-9d48bf92aeaa": [
+        "bus in the same lane as a truck",
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus with multiple pedestrians waiting on the right side",
-        "bus changing lanes",
-        "bicycle behind a bus",
-        "a group of people",
-        "vehicle within 5 meters of a bicycle",
+        "truck on intersection",
+        "vehicle changing lanes to the right",
         "city bus",
-        "bus in bus lane",
-        "bicycle facing toward moving traffic"
-    ],
-    "97738d01-b24f-365e-8818-2463149154d2": [
-        "group of pedestrians ahead of the ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrians using designated crossing",
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian near bollard",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle being passed on the left by another vehicle",
-        "pedestrian walking alongside bollard"
-    ],
-    "c049334b-5568-3ca0-9b28-0c09d00b7bb3": [
-        "vehicle with multiple pedestrians to the left",
-        "motorcyclist",
-        "bus in bus lane",
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrians using designated crossing",
-        "pedestrian crossing at bollard",
-        "ego vehicle two cars ahead of another vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "bicycle passing by parked vehicle",
-        "vehicle turning at intersection with nearby pedestrians"
-    ],
-    "3c56f1ef-d4df-30ae-80f3-0a5b22d4d3a6": [
-        "vehicle changing lanes while in bike lane",
-        "regular vehicle turning right",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "passenger vehicle turning right",
+        "pedestrian facing toward the bus",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "motorcycle overtaking a vehicle",
         "oncoming vehicle changing lanes",
-        "vehicle changing lanes through bike lane",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle being passed on the left by another vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "group of pedestrians ahead of the ego vehicle"
+        "parked box trucks"
     ],
-    "7df1f32e-f059-3ac4-9d57-213f2f69b8b4": [
-        "ego vehicle approaching stopped delivery truck",
+    "5d333477-796b-3e49-bf41-0cdbed39c8dd": [
+        "vehicle braking heavily",
         "accelerating truck",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle changing lanes to the right",
-        "parked box trucks",
-        "box truck braking in front of ego vehicle",
-        "bicycle on intersection",
-        "vehicle near multiple bollards",
-        "bicycle passing by parked vehicle",
-        "bicycle in same lane as a vehicle"
+        "ego vehicle near bollard",
+        "making a left lane change while there is a vehicle to the right",
+        "pedestrian crossing in front of cyclist near intersection",
+        "bicycle traveling alongside parked vehicles",
+        "dog near an intersection",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "pedestrian walking with stroller",
+        "pedestrian crossing between bollards"
     ],
-    "7d1d720d-6708-3148-917a-b8dc78f1dcd9": [
-        "bus in the same lane as a truck",
-        "pedestrian crossing ahead of ego vehicle",
-        "ego vehicle approaching stopped truck",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian crossing at bollard",
-        "truck in the same lane as a bus",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "multiple pedestrians crossing ahead",
-        "vehicle braking at pedestrian crossing",
-        "moving bus to the front-left of the ego vehicle"
+    "f7cdc2d1-f59a-30a2-aae8-8bb81c769e6e": [
+        "ego vehicle near bollard",
+        "pedestrians over 30 meters away",
+        "bus with multiple strollers in front",
+        "ego vehicle with vehicles on both sides",
+        "person",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle following another vehicle too closely",
+        "stroller with bollards on both sides",
+        "vehicle near multiple bollards"
     ],
-    "1d950a38-5c2f-39ce-9cd3-61249bc85194": [
+    "0749e9e0-ca52-3546-b324-d704138b11b5": [
+        "pedestrian walking past right side of vehicle",
+        "truck sharing a lane with another truck",
+        "vehicle moving at crawling speed",
+        "making a left lane change while there is a vehicle to the right",
+        "box truck changing lanes to the right",
+        "left lane change while there is a vehicle to the left",
+        "vehicle two cars ahead is changing lanes",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle two vehicles ahead is changing lanes",
+        "ego vehicle in dense traffic with lane-changing vehicles"
+    ],
+    "b81922e7-092f-3052-8cd1-fec6a6763295": [
+        "box trucks within 10 meters of an intersection",
+        "lane splitting motorcycle",
+        "vehicle accelerating on intersection",
+        "box truck changing lanes to the left",
+        "bus making right turn",
+        "vehicle turning right near construction zone",
+        "box truck changing lanes ahead",
+        "vehicle near construction barrel",
+        "bicycle sharing lane as a regular vehicle",
+        "passenger vehicle turning left at intersection"
+    ],
+    "a7a2236e-8f8e-34aa-9343-722f9b3bb829": [
         "bicycle and vehicle traveling in bike lane",
+        "vehicle near message board trailer",
+        "car following closely behind bicyclist",
+        "bicyclist within 3 meters on either side",
+        "bicyclist on intersection",
+        "ego vehicle near construction barrel",
+        "bicycle traveling with vehicle traffic",
+        "bicycle traveling alongside construction indicators",
         "bicycle traveling against traffic",
-        "bicycle facing toward a vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle facing toward moving traffic",
-        "motorcyclist",
-        "bicycle following closely behind a vehicle",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "motorcycle in bike lane",
-        "vehicle braking heavily"
-    ],
-    "756f4ed0-5352-31e4-b3c6-2841b9e779d7": [
-        "vehicle two vehicles ahead is changing lanes",
-        "object that hasn't moved",
-        "vehicle changing lanes to the right",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "passenger vehicle turning left at intersection",
-        "passenger vehicle turning right",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle following vehicle that is being overtaken on the right"
+        "bicycle following closely behind a vehicle"
     ],
-    "a4e62775-131f-37c4-9239-c38e3b254dad": [
-        "truck without trailer",
-        "passenger vehicle swerving left",
-        "semi truck within 30 meters ahead of ego vehicle",
+    "e424d4f7-4b28-322f-b630-31d42ae528eb": [
         "ego vehicle following vehicle being overtaken on right",
-        "parked box trucks",
-        "accelerating vehicle changing lanes to the right",
-        "box truck braking in front of ego vehicle",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle being overtaken on the left",
-        "vehicle with multiple construction cones on the left side"
-    ],
-    "6aae7f38-21de-31bf-8761-29d458338958": [
-        "vehicle making a right turn",
+        "vehicle braking heavily",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle facing toward parked vehicles",
         "car turning right",
-        "vehicle near multiple bollards",
-        "vehicle traveling in the same direction as the ego vehicle",
+        "vehicle making a right turn",
         "vehicle moving at crawling speed",
-        "vehicle facing toward parked vehicles",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle near articulated bus",
+        "accelerating passenger vehicle"
+    ],
+    "a1537c1c-775b-3969-ae13-2e83e5a4728a": [
+        "pedestrian near stop sign",
+        "bicycle in vehicle lane with vehicle",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle passing school bus at stop",
+        "pedestrian with multiple dogs",
+        "bicycle sharing lane as a regular vehicle",
+        "bicycle passing by parked vehicle",
+        "dog near an intersection",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicycle in same lane as a vehicle"
+    ],
+    "298715e3-b204-3bf5-b8c2-fe3be9e310e8": [
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "ego vehicle near construction barrel",
+        "vehicle maneuvering between construction barriers",
+        "person",
+        "city bus",
+        "the vehicle two cars in front of the ego vehicle",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle following another vehicle too closely",
+        "vehicle at a stop sign"
+    ],
+    "855908a6-a848-3b7b-a4a3-bbab78a423cd": [
+        "vehicle passing stopped truck with pedestrian nearby",
         "vehicle getting passed from the right",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle changing lanes to the left"
+        "bicycle near traffic cone",
+        "motorcyclist",
+        "vehicle approaching stopped vehicle at intersection",
+        "multiple buses within 50 meters ahead",
+        "vehicle being overtaken on the right",
+        "bus with another bus in its lane",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle two cars ahead is changing lanes"
     ],
-    "ad870270-f3d8-3790-866a-78d61b5b76ee": [
-        "vehicle stopped at construction barrel",
-        "vehicle in close proximity to bicycle",
-        "vehicle with a bicycle to its right",
+    "b403f8a3-4cad-333e-8557-d7da2e163f4b": [
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "multiple pedestrians crossing ahead",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "pedestrian near construction cone",
+        "vehicle traveling over 20 meters per second",
+        "pedestrian turning and watching the ego vehicle",
         "vehicle navigating near multiple bicycles",
-        "vehicle near construction barrel",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "pedestrian walking alongside stopped bus",
         "vehicle within 5 meters of a bicycle",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle two vehicles ahead is changing lanes"
+        "pedestrian near stop sign"
     ],
-    "74a3e9ae-6811-4d11-a112-4c4963773cfe": [
-        "vehicle being crossed by a pedestrian",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "a group of people",
-        "ego vehicle approaching crossing pedestrians",
-        "group of people",
-        "stopped car",
-        "vehicle with a bicycle to its right",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "regular vehicle turning right",
+    "93582b51-5be1-30cd-abb0-3eac16dd6dbc": [
+        "vehicle turning left",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle turning while pedestrian crosses with stroller",
+        "bicycle near traffic cone",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle facing toward parked vehicles",
+        "vehicle two vehicles ahead is braking",
+        "vehicle moving at crawling speed",
         "passenger vehicle turning left at intersection"
     ],
-    "737314f0-997a-3cd1-a652-78453bfe2b57": [
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle with a bicycle to its right",
-        "vehicle being overtaken on the right",
-        "vehicle following another vehicle too closely",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "truck without trailer",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle being overtaken while approaching another vehicle",
+    "ce0e814a-d9df-3975-a521-d8ae9a091e96": [
+        "regular vehicle turning right",
         "pedestrian to the left of a truck",
-        "wheeled rider crossing in front of vehicle at stop sign"
-    ],
-    "d9530d0a-b83e-44a3-910a-2b5bb8f1fb80": [
-        "the active vehicle in front of the vehicle ahead",
-        "accelerating passenger vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "regular vehicles that are stopped or nearly stopped",
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking alongside bollard",
+        "truck sharing a lane with another truck",
+        "pedestrian crossing at bollard",
+        "ego vehicle approaching stopped truck",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "the vehicle two cars in front of the ego vehicle",
+        "truck on intersection"
+    ],
+    "e4f6dbab-f2eb-3bd2-9dbc-88640e3b4a5f": [
         "vehicle moving at crawling speed",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle getting passed from the right",
-        "vehicle near multiple bollards",
-        "vehicle being followed by ego vehicle while being overtaken on right"
+        "vehicle two vehicles ahead is turning",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle turning left",
+        "vehicle accelerating more than two meters per second",
+        "ego vehicle with vehicles on both sides",
+        "vehicle changing lanes through bike lane",
+        "ego vehicle two cars ahead of another vehicle"
     ],
-    "03fba633-8085-30bc-b675-687a715536ac": [
-        "vehicle accelerating aggressively",
-        "ego vehicle near bollard",
-        "vehicle turning right with pedestrian waiting",
+    "9bdb4139-173f-33d3-8730-e29752d737d3": [
+        "motorcyclist",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian walking alongside bollard",
         "multiple pedestrians crossing ahead",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle with multiple bicycles ahead",
-        "bicycle following closely behind a vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle facing and heading toward pedestrian group"
+        "vehicle stopped at official signaler",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian walking with stroller",
+        "pedestrian crossing at bollard",
+        "pedestrians facing each other at close range, possibly conversing"
     ],
-    "fb2cce69-655d-3203-990a-74301895408d": [
-        "vehicle at a stop sign",
-        "turning left",
-        "dog on roadway",
-        "pedestrian with multiple dogs",
-        "dog crossing in front of vehicle",
-        "vehicle accelerating more than two meters per second",
-        "stop sign behind a pedestrian",
+    "c780d53a-2d37-3cd8-9e89-530966aef53e": [
+        "bicycle facing toward moving traffic",
+        "vehicle traveling over 20 meters per second",
+        "ego vehicle with vehicles on both sides",
         "any vehicle in front of stop sign",
-        "vehicle making a right turn",
-        "multiple motorcycles ahead of the ego vehicle"
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle being passed on the left by another vehicle",
+        "box truck at stop sign",
+        "objects getting closer to the ego vehicle",
+        "vehicle changing lanes",
+        "vehicle traveling in the opposite direction as the ego vehicle"
     ],
-    "d3dc783e-663a-31b1-bd85-46e04ca693db": [
-        "truck on intersection",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle changing lanes while in bike lane",
-        "truck without trailer",
+    "f8412dbd-48b9-39f3-b534-08950f6e633b": [
+        "vehicle changing lanes",
+        "passenger vehicle swerving left",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "ego vehicle near construction barrel",
+        "box truck changing lanes to the right",
+        "vehicle changing lanes while on an intersection",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "bus in the same lane as a truck",
+        "vehicle near construction barrel"
+    ],
+    "2aea7bd1-432a-43c5-9445-651102487f65": [
+        "vehicle following another vehicle too closely",
+        "bicycle facing toward a vehicle",
+        "bicycle traveling alongside parked vehicles",
+        "person",
+        "pedestrians over 30 meters away",
+        "vehicle near multiple bollards",
+        "bicycle passing by parked vehicle",
         "vehicle crossing path of another vehicle",
+        "vehicle with a bicycle to its right",
+        "bicycle facing toward moving traffic"
+    ],
+    "8934694e-8085-3673-96dd-eacebe691ed1": [
+        "motorcycle between two vehicles",
+        "vehicle within 5 meters of a bicycle",
         "vehicle changing lanes through bike lane",
-        "parked box trucks",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian to the back-right of the ego vehicle"
+        "vehicle two vehicles ahead is changing lanes",
+        "motorcycle at stop sign",
+        "bus with at least 3 pedestrians within 5 meters",
+        "ego vehicle near construction barrel",
+        "vehicle with a bicycle to its right",
+        "vehicle changing lanes while in bike lane",
+        "ego vehicle with parked bicycles ahead"
     ],
-    "968e77fb-9ab1-3427-8984-9e3028b186e2": [
-        "pedestrian on road not facing traffic",
-        "pedestrian walking alongside stopped bus",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle navigating near multiple bicycles",
-        "vehicle with multiple bicycles ahead",
+    "956dd277-e000-4c6c-af4a-aee4d86971c9": [
+        "ego vehicle changing lanes near construction zone",
+        "pedestrian facing toward ego vehicle",
+        "vehicle braking near pedestrian crossing",
+        "vehicle at a stop sign",
+        "vehicles being passed by a motorcycle on either side",
+        "accelerating passenger vehicle",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "motorcyclist",
+        "active vehicle at stop sign",
+        "vehicle being overtaken on the left"
+    ],
+    "c6c55112-0078-3867-a63f-1861a0125b8d": [
+        "car with a stroller to its left",
         "the vehicle two cars behind the ego vehicle",
-        "motorcyclist braking hard",
-        "passenger vehicle swerving left",
-        "vehicle two vehicles ahead is braking",
-        "vehicle accelerating towards pedestrian crossing"
+        "bus with at least 3 pedestrians within 5 meters",
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle accelerating on intersection",
+        "vehicle accelerating more than two meters per second",
+        "vehicle turning right with pedestrian waiting",
+        "any vehicle in front of stop sign",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle turning right at stop sign"
     ],
-    "b28a3715-4624-3a54-9652-b8f0b293a5a8": [
+    "5bd6bd4d-3c89-3794-9935-2d044ce6ef37": [
+        "vehicle changing lanes near message board trailer",
+        "vehicle being overtaken on the right",
+        "left lane change while there is a vehicle to the left",
+        "vehicle accelerating more than two meters per second",
+        "car turning right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle near message board trailer",
+        "moving bus to the front-left of the ego vehicle",
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle changing lanes to the right"
+    ],
+    "0322b098-7e42-34db-bcec-9a4d072191e9": [
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle facing away from the ego vehicle",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle being overtaken on the left",
-        "vehicle accelerating towards pedestrian crossing",
+        "vehicle changing lanes while on an intersection",
+        "pedestrian crossing ahead of ego vehicle",
         "ego vehicle merging between two regular vehicles",
-        "vehicle accelerating aggressively",
-        "turning left",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "vehicle turning right with pedestrian waiting",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle being crossed by a pedestrian",
+        "vehicle traveling over 20 meters per second",
+        "bus with another bus in its lane",
+        "vehicle braking near jaywalking pedestrian or stroller"
     ],
-    "9a25fd14-783b-35c3-ab2d-df4687f82b5e": [
-        "stop sign behind a pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
+    "62879808-1586-4d49-80fe-2f547e355191": [
+        "ego vehicle approaching crossing pedestrians",
+        "passenger vehicle near stroller in road",
+        "vehicle two cars ahead is braking",
+        "car driving in bus lane",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "moving bus to the front-left of the ego vehicle",
+        "multiple buses within 50 meters ahead",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle with multiple construction cones on the left side",
+        "construction barrel with at least 2 construction cones within 3 meters"
+    ],
+    "54bc6dbc-ebfb-3fba-b5b3-57f88b4b79ca": [
+        "vehicle maneuvering between construction barriers",
+        "vehicle turning right near construction zone",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle sharing a lane with another vehicle",
+        "oncoming vehicle changing lanes",
+        "passenger vehicle turning right",
+        "bicycle passing between bus and construction barrier",
+        "vehicle near construction barrel",
+        "ego vehicle two cars ahead of another vehicle",
+        "ego vehicle near construction barrel"
+    ],
+    "debbba6b-8cb8-3ab6-adfe-54fcc6b02839": [
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle two cars ahead is being crossed by a pedestrian",
         "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
         "vehicle in close proximity to bicycle",
-        "pedestrian near stop sign",
-        "pedestrian between moving vehicles on both sides",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle accelerating aggressively",
-        "vehicle facing and accelerating toward pedestrian on road"
-    ],
-    "ebece6dc-ec92-326f-97ed-f66b2970e358": [
-        "vehicle being passed on the left by another vehicle",
-        "left lane change while there is a vehicle to the left",
-        "motorcyclist",
-        "vehicle changing lanes",
-        "turning left",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle braking heavily",
-        "vehicle crossing path of another vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+        "pedestrian walking with dog on sidewalk",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle traveling over 20 meters per second",
+        "pedestrian crossing at bollard",
+        "pedestrian to the back-right of the ego vehicle",
+        "car driving in bus lane"
     ],
-    "1579b300-e7f5-3318-97c2-2c827b0c411e": [
-        "vehicle navigating near multiple bicycles",
+    "f8825b65-5631-3417-8309-bd5677d694aa": [
+        "pedestrian on road not facing traffic",
         "stopped car",
-        "vehicle accelerating on intersection",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "ego vehicle near bollard",
+        "bicycle near school bus",
+        "motorcycle or pedestrian within 5 meters to the right",
         "the active vehicle in front of the vehicle ahead",
-        "turning left",
-        "the vehicle two cars behind the ego vehicle",
         "vehicle two vehicles ahead is turning",
-        "two cars back from the ego vehicle",
-        "pedestrian on road not facing traffic",
-        "any vehicle in front of stop sign"
+        "pedestrian crossing in front of vehicle at crosswalk"
     ],
-    "1b8fc962-7036-4d7f-885e-40b631cbdeaf": [
-        "stationary construction barrel",
-        "vehicle to the back right of the ego vehicle",
-        "pedestrian to the left of a truck",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle getting passed from the right",
-        "box truck braking in front of ego vehicle",
-        "car driving in bus lane",
+    "e757cddd-5ff5-305a-af11-d7c6747d3979": [
+        "bus with at least 3 pedestrians within 5 meters",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "bicycle near traffic cone",
+        "vehicle following another vehicle too closely",
+        "dog",
+        "box truck at stop sign",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle with animal in front",
+        "vehicle with a bicycle to its right"
+    ],
+    "1886b0d1-9c5e-326f-99df-30b64044638f": [
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle near articulated bus",
+        "city bus",
         "ego vehicle approaching stopped delivery truck",
-        "vehicle turning at intersection with nearby pedestrians",
-        "pedestrian walking between construction barriers with approaching vehicle"
+        "group of people",
+        "pedestrians facing each other at close range, possibly conversing",
+        "jaywalking pedestrian",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle stopped at a stop sign",
+        "vehicle braking near jaywalking pedestrian or stroller"
     ],
-    "87ce1d90-ca77-363b-a885-ec0ef6783847": [
-        "motorcycle between stopped vehicles",
-        "motorcycle between two vehicles",
-        "vehicle braking near jaywalking pedestrian or stroller",
+    "189c8512-b034-3d58-a372-cf48eacf02dd": [
+        "passenger vehicle swerving left",
+        "jaywalking pedestrian",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "truck on intersection",
+        "vehicle accelerating while changing lanes",
+        "box truck braking in front of ego vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "pedestrian on road not facing traffic",
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle to the back right of the ego vehicle"
+    ],
+    "88ebed6a-e9a4-3d60-9011-ec1df75cc8d6": [
+        "dog",
+        "jaywalking pedestrian",
+        "pedestrian with multiple dogs",
+        "pedestrian walking alongside bollard",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "pedestrian near bollard",
+        "ego vehicle near bollard",
+        "bicycle traveling with vehicle traffic",
         "pedestrian walking with stroller",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "car with a stroller to its left",
-        "passenger vehicle near stroller in road",
+        "dog near pedestrian"
+    ],
+    "51e6b881-e5a1-30c8-ae2b-02891d5a54ce": [
+        "ego vehicle approaching crossing pedestrians",
+        "bus with another bus in its lane",
+        "pedestrian on road not facing traffic",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bus with multiple pedestrians waiting on the right side",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "pedestrian walking alongside stopped bus",
         "multiple pedestrians crossing ahead",
-        "vehicle making a right turn",
-        "vehicle braking at pedestrian crossing"
+        "moving bicycle directly to the left of the ego vehicle",
+        "bus making right turn"
     ],
-    "094c4119-eb33-3dfb-a18d-492cbdc8413a": [
+    "8ca98d88-67b5-385e-80f7-b32758668fab": [
+        "pedestrian walking alongside bollard",
+        "motorcycle between stopped vehicles",
+        "bicycle following closely behind a vehicle",
+        "ego vehicle near stroller on sidewalk",
+        "stroller",
+        "stroller with bollards on both sides",
+        "vehicle maneuvering between construction barriers",
+        "ego vehicle changing lanes near construction zone",
+        "pedestrian near stop sign",
+        "ego vehicle changing lanes to the left"
+    ],
+    "e5178032-d260-3bc8-968e-a5cb98b6ae5a": [
+        "vehicle moving at crawling speed",
+        "motorcycle or pedestrian within 5 meters to the right",
         "vehicle crossing path of another vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle being crossed by a pedestrian",
-        "vehicle facing toward parked vehicles",
-        "vehicle two vehicles ahead is braking",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle at a stop sign",
+        "vehicle following another vehicle too closely",
         "vehicle to the back right of the ego vehicle",
+        "objects getting closer to the ego vehicle",
         "vehicle hard braking with another vehicle ahead",
-        "making a left lane change while there is a vehicle to the right",
-        "dog crossing in front of vehicle"
-    ],
-    "c1a6c20c-e336-3efa-81b6-7c1242d70bd2": [
-        "parked vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle stopped at a stop sign",
-        "ego vehicle driving on a clear day",
-        "ego vehicle driving during daylight",
-        "ego vehicle driving while it is cloudy",
-        "object that hasn't moved",
-        "ego vehicle with vehicles on both sides",
-        "vehicle two cars ahead is braking"
-    ],
-    "f03bfd11-5ba2-3bc6-ad76-4166b06491f5": [
-        "city bus",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle two vehicles ahead is changing lanes",
-        "ego vehicle near articulated bus",
-        "car driving in bus lane",
-        "vehicle being overtaken on the left",
-        "box truck braking in front of ego vehicle",
-        "ego vehicle changing lanes to the left",
-        "box truck in bike lane",
-        "vehicle braking at pedestrian crossing"
+        "vehicle two vehicles ahead is turning"
     ],
-    "c70b2c64-7a9a-37c5-b974-709fa0536675": [
-        "bicycle passing by parked vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "bicycle traveling with vehicle traffic",
+    "953087a4-f704-37fe-a60f-82877e84a413": [
+        "pedestrian crossing in front of cyclist near intersection",
         "bicycle facing toward moving traffic",
-        "ego vehicle following vehicle being overtaken on right",
-        "bicycle facing toward a vehicle",
-        "ego vehicle two cars ahead of another vehicle",
-        "bicycle following closely behind a vehicle",
-        "vehicle turning right at stop sign",
-        "vehicle with multiple pedestrians to the left"
-    ],
-    "b98a7838-ac1f-339f-93c5-fe7f98ea8657": [
-        "ego vehicle with parked bicycles ahead",
-        "vehicle within 5 meters of a bicycle",
-        "pedestrian near construction cone",
-        "passenger vehicle swerving left",
-        "vehicle being crossed by a pedestrian",
-        "ego vehicle near construction cone",
-        "vehicle with a bicycle to its right",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
-    ],
-    "c6940de1-dccf-3b42-9c39-bbb9feb2d638": [
-        "bicycle in vehicle lane with vehicle",
-        "bicycle on intersection",
-        "bicyclist on intersection",
-        "bicycle in same lane as a vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling with vehicle traffic",
-        "car following closely behind bicyclist",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "bicyclist within 3 meters on either side"
-    ],
-    "d97ae2c0-b8d1-341c-94b7-f19d5fd2982a": [
-        "stopped car",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is changing lanes",
-        "truck changing lanes to the right",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle two vehicles ahead is braking",
-        "truck without trailer",
-        "vehicle with multiple pedestrians to the left",
-        "box truck in bike lane"
-    ],
-    "1e6f21fd-5c8a-3526-ac50-72adae89d6a8": [
-        "pedestrians over 30 meters away",
-        "ego vehicle with parked bicycles ahead",
-        "motorcycle between two vehicles",
-        "motorcyclist",
-        "vehicle turning right with pedestrian in front",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle with a bicycle to its right",
-        "vehicle two vehicles ahead is turning",
-        "wheeled rider crossing between moving vehicles",
-        "stopped car"
-    ],
-    "9f6d282e-f573-31d5-80e6-9a193e80cd7d": [
-        "bicycle crossing vehicle path at intersection",
-        "bicyclist on intersection",
-        "ego vehicle approaching cyclist in same lane",
         "vehicle changing lanes through bike lane",
-        "pedestrian to the left of a truck",
-        "box truck braking in front of ego vehicle",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "bicycle on intersection",
-        "ego vehicle approaching crossing pedestrians",
-        "multiple buses within 50 meters ahead"
-    ],
-    "50d508e2-6753-4519-a8c3-ad94a76ee948": [
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrians over 30 meters away",
-        "the vehicle two cars in front of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "parked vehicle",
-        "vehicle at intersection facing another vehicle",
-        "pedestrian facing toward ego vehicle",
-        "group of three people",
-        "jaywalking pedestrian"
-    ],
-    "121007f3-a0cc-3795-9606-85108b800772": [
-        "accelerating vehicle changing lanes to the right",
-        "vehicle changing lanes while on an intersection",
+        "vehicle changing lanes while in bike lane",
         "vehicle crossing path of another vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle changing lanes to the right",
+        "vehicle braking at pedestrian crossing",
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle braking near pedestrian crossing",
         "vehicle getting passed from the right",
-        "two cars back from the ego vehicle",
-        "vehicle accelerating more than two meters per second",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle changing lanes"
+        "vehicle hard braking with another vehicle ahead"
     ],
-    "22dcf96c-ef5e-376b-9db5-dc9f91040f5e": [
-        "motorcycle between two vehicles",
-        "vehicle two vehicles ahead is at a stop sign",
+    "cd822baf-4aa1-33fa-bfe5-d91386598edb": [
         "vehicle at a stop sign",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "oncoming vehicle changing lanes",
-        "motorcycle between stopped vehicles",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "bicycle traveling alongside parked vehicles"
-    ],
-    "ba66bb3c-5437-4bc6-afe3-299109e5ced4": [
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "passenger vehicle swerving left",
-        "vehicle two cars ahead is braking",
-        "accelerating passenger vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle being overtaken while approaching another vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle braking at pedestrian crossing",
-        "vehicle turning right at stop sign"
-    ],
-    "01bb304d-7bd8-35f8-bbef-7086b688e35e": [
-        "vehicle turning right near construction zone",
+        "vehicle turning right at stop sign",
         "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "vehicle maneuvering between construction barriers",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "passenger vehicle near stroller in road",
+        "vehicle facing and accelerating toward pedestrian on road",
         "vehicle turning right next to pedestrian with stroller",
-        "vehicle with multiple construction cones on the left side",
-        "car with a stroller to its left",
-        "ego vehicle near mobile pedestrian sign",
-        "accelerating truck"
+        "pedestrian walking past right side of vehicle",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "stop sign behind a pedestrian"
     ],
-    "5f2b8881-3447-3905-99f8-def9d72aae42": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "car turning right",
+    "156a412d-3699-3c1c-9ada-6ab587347996": [
+        "vehicle to the back right of the ego vehicle",
+        "vehicle at intersection facing another vehicle",
+        "pedestrian to the left of a truck",
+        "any vehicle in front of stop sign",
         "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "bicyclist changing lanes to the right",
+        "two cars back from the ego vehicle",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "stationary construction barrel",
+        "car turning right",
+        "city bus"
+    ],
+    "e3a935bf-1428-32a4-8d53-caa71ee3de8f": [
+        "moving wheelchair within 5 meters of an intersection",
         "vehicle turning right with pedestrian in front",
-        "regular vehicle turning right",
-        "vehicle making a right turn",
         "vehicle two vehicles ahead is turning",
-        "vehicle two vehicles ahead is braking",
-        "vehicle changing lanes through bike lane"
+        "car turning right",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle two cars ahead is braking",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "active vehicle at stop sign"
     ],
-    "332b278a-a6b9-3bc3-b88c-241e4b03b4ef": [
-        "two cars back from the ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "the vehicle two cars in front of the ego vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
+    "b7843066-abbd-3275-ac52-90a8363f65f7": [
+        "any vehicle in front of stop sign",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle turning left",
         "the active vehicle in front of the vehicle ahead",
-        "vehicle accelerating on intersection",
-        "vehicle accelerating more than two meters per second",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "box truck changing lanes ahead",
-        "ego vehicle with parked bicycles ahead"
+        "active vehicle at stop sign",
+        "vehicle near multiple bollards",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle navigating near multiple bicycles",
+        "vehicle stopped at a stop sign",
+        "vehicle two vehicles ahead is at a stop sign"
     ],
-    "ff6adc87-5f47-32f7-b36a-546453c0e332": [
-        "dog near pedestrian",
-        "motorcycle between stopped vehicles",
-        "motorcycle between two vehicles",
-        "vehicle with multiple bicycles ahead",
-        "dog crossing in front of vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
+    "d842ce41-8d9c-3c0f-9c04-595d97be5140": [
+        "motorcycle passing between parked vehicles",
         "motorcycle or pedestrian within 5 meters to the right",
-        "dog on roadway",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk"
-    ],
-    "9a372faa-e598-30e2-999f-99f90a0b099e": [
-        "dog on roadway",
+        "regular vehicle turning right",
+        "passenger vehicle turning right",
+        "pedestrian to the back-right of the ego vehicle",
+        "parked box trucks",
         "stop sign behind a pedestrian",
-        "pedestrian walking with dog on sidewalk",
-        "ego vehicle near stroller on sidewalk",
-        "pedestrian with multiple dogs",
-        "passenger vehicle near stroller in road",
+        "pedestrian near stop sign",
+        "box truck near at least 3 construction cones",
+        "ego vehicle near articulated bus"
+    ],
+    "9a8aea4b-9b61-3884-9f3c-84c3c36e6373": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "pedestrian near construction cone",
+        "person",
+        "pedestrians facing each other at close range, possibly conversing",
+        "ego vehicle changing lanes near construction zone",
+        "box truck braking in front of ego vehicle",
+        "bus in bus lane",
+        "bus with another bus in its lane",
+        "bicycle in vehicle lane with vehicle",
+        "car driving in bus lane"
+    ],
+    "7c696d35-e34f-38b0-b4b4-e88803ad1f6a": [
+        "bicycle near traffic cone",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "stroller",
-        "pedestrian walking with stroller",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being passed on the left by another vehicle"
+        "vehicle turning right with pedestrian waiting",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "unattended dog",
+        "vehicle with multiple bicycles ahead",
+        "regular vehicle turning right"
     ],
-    "bd73bd15-8a42-3aa9-8eb7-cff9f894d43b": [
-        "pedestrian walking past right side of vehicle",
-        "stationary construction barrel",
-        "parked vehicle",
-        "vehicle near construction barrel",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle accelerating towards pedestrian crossing",
-        "ego vehicle with parked bicycles ahead",
+    "57636c80-9335-3aae-af70-11755db93854": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle traveling against traffic",
+        "truck changing lanes to the right",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "vehicle maneuvering between construction barriers",
-        "bicycle traveling against traffic"
+        "bicycle traveling alongside construction indicators",
+        "pedestrian walking with dog on sidewalk",
+        "bicycle near traffic cone",
+        "bicyclist changing lanes to the right",
+        "bus with at least 3 pedestrians within 5 meters"
     ],
-    "1842383a-1577-3b7a-90db-41a9a6668ee2": [
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "car with a stroller to its left",
-        "vehicle turning while pedestrian crosses with stroller",
-        "unattended stroller",
-        "vehicle turning right next to pedestrian with stroller",
-        "stroller in the same lane as a regular vehicle",
-        "passenger vehicle near stroller in road",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "pedestrian with stroller jaywalking",
-        "ego vehicle near stroller on sidewalk"
+    "c062ba0f-7591-3225-a57d-8181622dc2da": [
+        "group of pedestrians ahead of the ego vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "construction item on road",
+        "ego vehicle near construction barrel",
+        "dog near pedestrian",
+        "vehicle stopped at construction barrel",
+        "vehicle turning right near construction zone",
+        "box trucks within 10 meters of an intersection",
+        "vehicle maneuvering between construction barriers"
     ],
-    "d9c267be-f19a-3183-afe0-f0625a375743": [
-        "oncoming vehicle changing lanes",
-        "pedestrian with multiple dogs",
-        "vehicle moving at crawling speed",
-        "vehicle two vehicles ahead is braking",
-        "car following closely behind bicyclist",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle with multiple pedestrians to the left",
-        "making a left lane change while there is a vehicle to the right",
-        "passenger vehicle turning left at intersection",
-        "vehicle turning near group of cyclists"
+    "5cf52bbe-f7f4-30c9-a4c2-a1fbb93513e4": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "multiple pedestrians crossing ahead",
+        "pedestrian crossing at bollard",
+        "vehicle with multiple construction cones on the left side",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "pedestrian crossing ahead of ego vehicle",
+        "bicyclist changing lanes to the right",
+        "pedestrian walking with stroller",
+        "ego vehicle near bollard"
     ],
-    "d1695c5e-08a9-44fd-8f45-93c23f700c8b": [
-        "vehicle facing toward parked vehicles",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle moving at crawling speed",
-        "vehicle sharing a lane with another vehicle",
+    "b4d5e738-b937-33fd-8131-bf1df36f598a": [
         "vehicle changing lanes",
-        "vehicle facing the ego vehicle",
-        "vehicle traveling over 20 meters per second",
+        "bicycle near traffic cone",
+        "motorcyclist braking hard",
+        "vehicle two cars ahead is braking",
+        "vehicle braking at pedestrian crossing",
+        "moving bicycle directly to the left of the ego vehicle",
+        "school bus on intersection",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "school bus at pedestrian crossing",
+        "vehicle braking near pedestrian crossing"
+    ],
+    "2716d83e-8c4f-39a3-a2a3-d5e255fe8a03": [
+        "vehicle two cars ahead is changing lanes",
+        "bicyclist riding in vehicle lane",
+        "bicycle traveling with vehicle traffic",
         "oncoming vehicle changing lanes",
-        "ego vehicle following vehicle that is being overtaken on the right"
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "jaywalking pedestrian",
+        "ego vehicle with parked bicycles ahead",
+        "pedestrian turning and watching the ego vehicle",
+        "ego vehicle approaching intersection with crossing dog",
+        "group of three people"
     ],
-    "ee27a871-85cf-494c-8519-f54815040af5": [
-        "vehicle accelerating on intersection",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "pedestrian near stop sign",
-        "ego vehicle near construction barrel",
-        "turning left",
+    "26daba71-ca0a-37e9-9dc6-0f81f02c0afd": [
+        "vehicle accelerating while changing lanes",
+        "accelerating passenger vehicle",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "accelerating truck",
+        "any vehicle in front of stop sign",
         "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle being overtaken on the right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle stopped at construction barrel"
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicles being passed by a motorcycle on either side"
     ],
-    "4f1b4bb2-b30b-3537-8fed-dd8f843f5adb": [
-        "vehicle making a right turn",
-        "ego vehicle merging between two regular vehicles",
-        "ego vehicle changing lanes to the left",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle turning at intersection with nearby pedestrians",
+    "7f40c022-9f9d-3805-abf8-7533175b3f25": [
+        "box truck with multiple construction cones to its right",
+        "school bus at pedestrian crossing",
+        "motorcyclist braking hard",
+        "bicycle traveling alongside parked vehicles",
         "pedestrian approaching a parked vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "pedestrian to the back-right of the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk"
-    ],
-    "614812d4-3344-3975-a1c8-4131910c4a10": [
-        "dog on roadway",
-        "ego vehicle changing lanes to the left",
-        "vehicle stopped at a stop sign",
-        "vehicle facing toward parked vehicles",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "pedestrian turning and watching the ego vehicle",
         "ego vehicle merging between two regular vehicles",
-        "vehicle two vehicles ahead is turning"
+        "ego vehicle changing lanes to the left",
+        "school bus on intersection",
+        "vehicle traveling over 20 meters per second",
+        "vehicle surrounded by bicycles on all sides"
     ],
-    "dd251cc5-736d-3b76-8ad3-3f6cb138178e": [
+    "69c0ec7c-e289-3c4d-ade3-d2287ec34026": [
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "ego vehicle near construction barrel",
+        "ego vehicle approaching crossing pedestrians",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle turning right near construction zone",
+        "vehicle turning right with pedestrian waiting",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
         "bicycle near a bus",
-        "box truck with multiple construction cones to its right",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicycle behind a bus",
-        "city bus",
-        "ego vehicle near articulated bus",
-        "box truck near at least 3 construction cones",
-        "box truck changing lanes to the right",
-        "ego vehicle approaching stopped truck",
-        "ego vehicle changing lanes to the left"
-    ],
-    "9ec8f3a2-59ba-3ce2-827d-656ea5bc1f1f": [
-        "pedestrian near stop sign",
-        "city bus",
-        "ego vehicle near articulated bus",
-        "vehicle braking at pedestrian crossing",
-        "multiple buses within 50 meters ahead",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle braking near pedestrian crossing",
-        "unattended stroller",
-        "bicycle on intersection"
+        "pedestrian facing toward the bus",
+        "motorcyclist"
     ],
-    "d47507ce-b079-395e-8761-8e70818ea69a": [
-        "vehicle sharing a lane with another vehicle",
-        "vehicle changing lanes while on an intersection",
+    "8d8b550e-d0be-3cbb-a371-49ec36fa619f": [
+        "unattended dog",
+        "vehicle two vehicles ahead is braking",
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle facing away from the ego vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle getting passed from the right",
-        "vehicle crossing path of another vehicle",
-        "objects getting closer to the ego vehicle",
-        "pedestrian turning and watching the ego vehicle"
+        "vehicle moving at crawling speed",
+        "pedestrian with multiple dogs",
+        "vehicle being passed on the left by another vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "vehicle turning left",
+        "dog"
     ],
-    "bd4a7d9d-14e1-3c17-873d-a74d0cd6a5d7": [
+    "20b00c37-4fe4-31dc-a258-dae253ae6992": [
+        "car turning right",
+        "truck on intersection",
+        "vehicle approaching stopped vehicle at intersection",
+        "passenger vehicle turning right",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle sharing a lane with another vehicle",
         "ego vehicle approaching stopped delivery truck",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "truck without trailer",
-        "bicycle in vehicle lane with vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicyclist within 3 meters on either side",
-        "bicycle in same lane as a vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "pedestrian crossing ahead of ego vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "oncoming vehicle changing lanes",
+        "vehicle making a right turn"
+    ],
+    "1844c439-b94c-332a-bb94-600818350eb4": [
+        "vehicles being passed by a motorcycle on either side",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle near multiple bollards",
+        "vehicle accelerating while changing lanes",
+        "jaywalking pedestrian",
+        "bicycle passing between bus and construction barrier",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle approaching multiple pedestrians at crosswalk",
         "vehicle braking at pedestrian crossing"
     ],
-    "d2901fe5-4b64-3144-98e1-67ef5ef83fa7": [
-        "bicycle traveling with vehicle traffic",
-        "bicyclist riding in vehicle lane",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle passing by parked vehicle",
-        "ego vehicle approaching cyclist in same lane",
+    "86519a39-4ce9-3d0b-a3f9-dd9aa26a2b25": [
+        "pedestrian between moving vehicles on both sides",
+        "dog near an intersection",
+        "vehicle two vehicles ahead is at a stop sign",
+        "dog near pedestrian",
+        "dog crossing in front of vehicle",
+        "pedestrian with multiple dogs",
+        "vehicle turning right with pedestrian in front",
+        "bicyclist on intersection",
+        "dog on roadway",
+        "vehicle turning right at stop sign"
+    ],
+    "61e56102-4d85-3a40-bbba-1a007c816f68": [
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle changing lanes while on an intersection",
+        "pedestrian walking alongside bollard",
+        "vehicle being crossed by a pedestrian",
+        "vehicle changing lanes to the right",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "bicycle traveling alongside construction indicators",
+        "ego vehicle approaching pedestrian at crosswalk",
         "bicycle sharing lane as a regular vehicle",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicycle and vehicle traveling in bike lane",
-        "vehicle changing lanes through bike lane",
-        "ego vehicle approaching pedestrian at crosswalk"
+        "multiple motorcycles ahead of the ego vehicle"
     ],
-    "78cbd619-8ded-35b8-87a1-38c4f4aeb82d": [
-        "ego vehicle with vehicles on both sides",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "accelerating passenger vehicle",
-        "vehicle near multiple bollards",
-        "pedestrians using designated crossing",
-        "pedestrian near bollard",
+    "a47ba6a9-ffa1-3979-bb40-512339284b8b": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle being overtaken on the left",
+        "pedestrian approaching a parked vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle in close proximity to bicycle",
         "vehicle with multiple pedestrians to the left",
-        "pedestrian crossing between bollards",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "group of people"
-    ],
-    "286790ed-9dec-305b-bcad-4f8153301e7c": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "group of pedestrians ahead of the ego vehicle",
         "moving bus to the front-left of the ego vehicle",
-        "bus changing lanes",
-        "pedestrians facing each other at close range, possibly conversing",
-        "group of people",
-        "oncoming vehicle changing lanes",
-        "two cars back from the ego vehicle",
+        "city bus",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle accelerating towards pedestrian crossing"
+    ],
+    "dc9c2d63-083f-32c3-90ff-943ca823a245": [
+        "bicyclist riding in vehicle lane",
+        "vehicle accelerating towards pedestrian crossing",
+        "pedestrian to the left of a truck",
+        "vehicle changing lanes while in bike lane",
+        "vehicle changing lanes through bike lane",
         "bicycle in same lane as a vehicle",
-        "bicycle passing by parked vehicle"
+        "car following closely behind bicyclist",
+        "bicycle following closely behind a vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle facing toward moving traffic"
     ],
-    "c2ec8955-1797-338f-9486-d7c41926f791": [
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrians using designated crossing",
-        "ego vehicle changing lanes to the left",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "ego vehicle merging between two regular vehicles",
-        "pedestrian near bollard",
-        "vehicle accelerating while changing lanes",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "multiple motorcycles ahead of the ego vehicle"
+    "134bb8e9-9080-3bc5-948d-88d8cc034550": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle near multiple bollards",
+        "vehicle to the back right of the ego vehicle",
+        "traffic officer in roadway",
+        "dog near pedestrian",
+        "vehicle following another vehicle too closely",
+        "ego vehicle approaching stopped delivery truck",
+        "construction item on road",
+        "person",
+        "moving bus to the front-left of the ego vehicle"
     ],
-    "6f2f7d1e-8ded-35c5-ba83-3ca906b05127": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle turning at intersection with nearby pedestrians",
-        "passenger vehicle turning left at intersection",
+    "5d8f4b0a-27f8-3889-925f-e9a146a395eb": [
+        "pedestrian facing toward ego vehicle",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrians over 30 meters away",
+        "objects getting closer to the ego vehicle",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle two vehicles ahead is at a stop sign",
+        "vehicle hard braking with another vehicle ahead",
+        "motorcycle overtaking a vehicle",
+        "multiple motorcycles ahead of the ego vehicle",
+        "left lane change while there is a vehicle to the left"
+    ],
+    "0d37aee4-6508-33a2-998d-724834e80030": [
+        "making a left lane change while there is a vehicle to the right",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "bicycle facing toward a vehicle",
+        "bus in bus lane",
+        "vehicle turning left while bicycle crosses from right",
+        "city bus",
+        "person",
+        "vehicle accelerating while changing lanes",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "bicycle facing toward moving traffic"
+    ],
+    "6cc0bb26-5afb-3688-b237-b9c64c2800e5": [
+        "vehicle getting passed from the right",
         "vehicle changing lanes to the right",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
         "vehicle with multiple bicycles ahead",
-        "vehicle changing lanes",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle passing parked bus",
-        "vehicle changing lanes near group of cyclists"
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "pedestrian on road not facing traffic",
+        "vehicle turning at intersection with nearby pedestrians",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle being followed by ego vehicle while being overtaken on right"
     ],
-    "aa82b61f-7156-3c68-95a4-b79cebd120eb": [
-        "ego vehicle near bollard",
-        "passenger vehicle swerving left",
-        "vehicle accelerating aggressively",
-        "vehicle changing lanes through bike lane",
-        "accelerating vehicle changing lanes to the right",
+    "c93a30c8-168c-386c-a25a-cbd8d8410fbe": [
+        "vehicle being overtaken on the left",
+        "vehicle braking at pedestrian crossing",
+        "motorcycle overtaking a vehicle",
+        "stroller",
+        "stroller in the same lane as a regular vehicle",
+        "truck without trailer",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle braking near pedestrian crossing",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "truck on intersection"
+    ],
+    "382dfbe0-836e-385c-86f2-f1afcf57a402": [
+        "pedestrian turning and watching the ego vehicle",
+        "motorcycle between stopped vehicles",
         "vehicles being passed by a motorcycle on either side",
-        "vehicle changing lanes while in bike lane",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle facing and heading toward pedestrian group"
+        "pedestrian crossing at bollard",
+        "vehicle turning right with pedestrian waiting",
+        "stopped car",
+        "motorcycle near construction cone",
+        "pedestrian near construction cone",
+        "pedestrian walking past right side of vehicle",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "d9fd666a-8f55-38bb-8387-80fa44c29348": [
+    "a1c1d559-0480-39d2-94f0-1a89f0226c4f": [
+        "pedestrian crossing ahead of ego vehicle",
+        "motorcycle between two vehicles",
+        "vehicle at intersection facing another vehicle",
+        "vehicle being overtaken on the left",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle near multiple bollards",
+        "vehicle changing lanes while on an intersection",
+        "vehicle being overtaken while approaching another vehicle",
+        "pedestrians over 30 meters away"
+    ],
+    "3e7c4d87-dba1-3e22-a303-4f402f89cd20": [
+        "vehicle stopped at construction barrel",
         "car following closely behind bicyclist",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicyclist riding in vehicle lane",
-        "bicycle crossing vehicle path at intersection",
-        "bicyclist on intersection",
-        "bicycle on intersection",
-        "bicycle sharing lane as a regular vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "pedestrian near bollard",
-        "bicycle being overtaken"
+        "vehicle sharing a lane with another vehicle",
+        "vehicle turning left",
+        "vehicle changing lanes",
+        "vehicle changing lanes while on an intersection",
+        "vehicle near construction barrel",
+        "ego vehicle approaching stopped truck",
+        "vehicle braking heavily",
+        "vehicle following another vehicle too closely"
     ],
-    "080b1ce2-9477-39ee-8233-b7f33e1dfe56": [
-        "pedestrian facing toward the bus",
-        "oncoming vehicle changing lanes",
-        "moving bus to the front-left of the ego vehicle",
-        "truck in the same lane as a bus",
-        "bicycle facing toward a vehicle",
-        "ego vehicle following vehicle being overtaken on right",
-        "bus in the same lane as a truck",
-        "railed vehicle",
-        "left lane change while there is a vehicle to the left",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
+    "47358aac-2ec0-3d45-a837-f2069ca7cee3": [
+        "vehicle accelerating more than two meters per second",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle near construction barrel",
+        "vehicle stopped at construction barrel",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle getting passed from the right",
+        "bus with another bus in its lane",
+        "accelerating vehicle changing lanes to the right"
     ],
-    "0f257dcc-8606-3ef9-b17e-b022a3fc72c7": [
-        "bicyclist riding in vehicle lane",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist on intersection",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle traveling with vehicle traffic",
-        "bicyclist within 3 meters on either side",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle sharing lane as a regular vehicle",
+    "36b38cbf-f6c5-3a12-8e7a-eb281cc9c2fc": [
+        "box truck in bike lane",
+        "pedestrian facing toward ego vehicle",
         "oncoming vehicle changing lanes",
-        "vehicle being overtaken on the right"
-    ],
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-        "bicyclist on intersection",
-        "ego vehicle near construction cone",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle on intersection",
-        "bicycle traveling against traffic",
-        "jaywalking pedestrian",
         "bicyclist riding in vehicle lane",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle traveling over 20 meters per second",
-        "pedestrian walking alongside bollard"
+        "ego vehicle with vehicles on both sides",
+        "vehicle facing and heading toward pedestrian group",
+        "box trucks within 10 meters of an intersection",
+        "box truck changing lanes to the right",
+        "group of people",
+        "vehicle turning right near construction zone"
     ],
-    "be94abe3-f84c-34d6-8461-3105bcfcedb7": [
-        "parked box trucks",
+    "5fe10166-ab1e-36d5-aa2b-c0d6f680f2c7": [
+        "stopped car",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "the vehicle two cars behind the ego vehicle",
         "pedestrians over 30 meters away",
-        "vehicle with multiple pedestrians to the left",
+        "bicycle facing toward a vehicle",
+        "vehicle changing lanes to the right",
+        "vehicle changing lanes through bike lane",
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle being overtaken on the right",
+        "vehicle being followed by ego vehicle while being overtaken on right"
+    ],
+    "8e5442cf-8882-3b94-bc47-18fcad84bb20": [
+        "dog near an intersection",
+        "pedestrian walking alongside stopped bus",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "dog near pedestrian",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle with animal in front",
+        "accelerating vehicle changing lanes to the right",
+        "ego vehicle near articulated bus",
+        "stroller",
+        "dog"
+    ],
+    "e0cfd042-ae29-3d21-bb47-81eb8f933ec8": [
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle facing toward parked vehicles",
+        "bus in bus lane",
+        "car turning right",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "vehicle with a bicycle to its right",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle making a right turn",
+        "vehicle within 5 meters of a bicycle",
+        "ego vehicle with vehicles on both sides"
+    ],
+    "1c8f1189-c4fe-3303-bf2a-f88f5751b81e": [
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle accelerating on intersection",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle accelerating while changing lanes",
         "pedestrian walking with dog on sidewalk",
-        "pedestrian walking alongside bollard",
-        "pedestrian crossing between bollards",
-        "two cars back from the ego vehicle",
-        "passenger vehicle swerving left",
-        "vehicle two cars ahead is braking",
-        "ego vehicle merging between two regular vehicles"
+        "bicycle behind a bus",
+        "vehicle approaching stopped vehicle at intersection",
+        "motorcyclist braking hard",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "11420316-aec9-3ad9-8b4a-d618bcd180e9": [
-        "pedestrian with multiple dogs",
-        "bicycle traveling with vehicle traffic",
-        "bicycle traveling against traffic",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
+    "8a0ff1a2-9045-3be3-b67f-3914d88178ec": [
+        "motorcycle between two vehicles",
+        "motorcycle between stopped vehicles",
+        "ego vehicle passing official signaler",
+        "vehicle stopped at official signaler",
+        "motorcyclist",
+        "moving wheelchair within 5 meters of an intersection",
+        "a group of people",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle turning right with pedestrian in front",
+        "vehicle two vehicles ahead is turning"
+    ],
+    "6bae6c0c-5296-376d-96bc-6c8dbe6693a5": [
+        "vehicle turning right with pedestrian in front",
+        "vehicle accelerating more than two meters per second",
+        "vehicle turning right with pedestrian waiting",
         "bicycle in vehicle lane with vehicle",
         "group of three people",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicyclist within 3 meters on either side",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian walking with stroller"
-    ],
-    "46d917cd-531c-330b-8d7b-979b51a8927f": [
-        "city bus",
-        "pedestrian crossing between bollards",
-        "pedestrian walking alongside stopped bus",
-        "vehicle being tailgated while approaching stopped traffic",
-        "bus with multiple pedestrians waiting on the right side",
+        "pedestrian on intersection not using a crosswalk",
         "pedestrian crossing ahead of ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "ego vehicle near articulated bus"
+        "vehicle facing and accelerating toward pedestrian on road",
+        "pedestrian near construction cone",
+        "ego vehicle approaching crossing pedestrians"
     ],
-    "bdd7e8ba-f7fa-38d1-b6bf-9dc77334fec5": [
+    "f303e577-a888-30db-97f7-ed36c90227e1": [
+        "bicycle traveling alongside parked vehicles",
+        "vehicle accelerating while changing lanes",
+        "bicycle in same lane as a vehicle",
+        "pedestrian crossing at bollard",
+        "pedestrian between moving vehicles on both sides",
+        "bicycle traveling with vehicle traffic",
+        "ego vehicle following vehicle being overtaken on right",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "bicycle in vehicle lane with vehicle"
+    ],
+    "f46707f9-435f-3a06-9017-deae11feab53": [
+        "pedestrian to the back-right of the ego vehicle",
         "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrians using designated crossing",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle turning right with pedestrian waiting",
         "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle two cars ahead is braking",
+        "motorcycle overtaking a vehicle",
         "stroller",
-        "pedestrian walking alongside stopped bus",
-        "stop sign behind a pedestrian",
-        "vehicle braking at pedestrian crossing",
-        "ego vehicle near pedestrian crossing sign"
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian near bollard"
     ],
-    "256c185c-284a-343e-93f4-894eed474edd": [
-        "oncoming vehicle changing lanes",
-        "motorcycle near construction cone",
-        "ego vehicle in dense traffic with lane-changing vehicles",
+    "ed93e1bb-7bbc-3444-8fc8-08a271438fc8": [
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "dog on roadway",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "truck without trailer",
+        "truck on intersection",
+        "vehicle turning left",
         "accelerating passenger vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle getting passed from the right",
-        "vehicle following another vehicle too closely",
-        "dog near pedestrian",
-        "motorcycle between two vehicles",
-        "box truck at stop sign"
+        "motorcyclist traveling opposite to bicycle traffic",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle being crossed by a pedestrian"
     ],
-    "57356998-297c-330a-af4e-c6a1ad64f923": [
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle making a right turn",
-        "vehicle near construction barrel",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "multiple pedestrians crossing ahead",
-        "vehicle turning at intersection with nearby pedestrians",
-        "objects getting closer to the ego vehicle",
-        "ego vehicle near construction barrel",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "the vehicle two cars in front of the ego vehicle"
+    "b5a1b0b0-a7fc-3a47-af82-9b25a81a8c0b": [
+        "vehicle changing lanes while on an intersection",
+        "vehicle accelerating while changing lanes",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "a group of people",
+        "ego vehicle approaching stopped delivery truck",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle near bollard",
+        "vehicle two vehicles ahead is changing lanes"
     ],
-    "a3876690-9d49-3c98-9421-02cfe0ccb551": [
-        "active vehicle at stop sign",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle turning right at stop sign",
+    "5481321f-d317-3e80-8061-6e9c635c4ca9": [
+        "vehicle passing school bus at stop",
+        "pedestrian between moving vehicles on both sides",
+        "traffic officer in roadway",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "left lane change while there is a vehicle to the left",
+        "vehicle maneuvering between construction barriers",
+        "vehicle turning right with pedestrian in front",
+        "vehicle changing lanes to the right",
+        "a group of people",
+        "motorcycle overtaking a vehicle"
+    ],
+    "de43d0b6-d6a7-38de-9709-883e10320267": [
+        "motorcycle or pedestrian within 5 meters to the right",
+        "bicycle behind a bus",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "unattended stroller",
+        "car following closely behind bicyclist",
         "multiple buses within 50 meters ahead",
+        "pedestrian to the back-right of the ego vehicle",
+        "bicycle following closely behind a vehicle",
+        "bus within 5 meters to either side of ego vehicle"
+    ],
+    "9caf211e-3e6e-3996-8518-f617b9454e67": [
+        "ego vehicle near articulated bus",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "the vehicle two cars behind the ego vehicle",
+        "box truck in bike lane",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "person",
+        "motorcycle between stopped vehicles",
+        "pedestrians using designated crossing",
         "vehicle at a stop sign",
-        "bus making right turn",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle stopped at a stop sign",
-        "vehicle changing lanes while on an intersection",
-        "pedestrian walking alongside bollard"
+        "stop sign behind a pedestrian"
     ],
-    "48a52b7b-9391-3728-84f1-9aa6ca336214": [
-        "construction item on road",
+    "04973bcf-fc64-367c-9642-6d6c5f363b61": [
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
         "vehicle with multiple pedestrians to the left",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle changing lanes while in bike lane",
+        "vehicle being crossed by a pedestrian",
+        "moving bicycle directly to the left of the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "ego vehicle with vehicles on both sides",
+        "vehicle braking near pedestrian crossing"
+    ],
+    "e7e7ebad-79d2-3ae1-95ce-f3035bc8f719": [
+        "bicycle traveling against traffic",
+        "motorcycle between stopped vehicles",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "vehicle braking heavily",
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "bicycle crossing vehicle path at intersection",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking with stroller"
+    ],
+    "bd9636d2-7220-3585-9c7d-4acaea167b71": [
+        "pedestrian on road not facing traffic",
+        "pedestrian near construction cone",
+        "bus with another bus in its lane",
+        "multiple buses within 50 meters ahead",
+        "box truck changing lanes ahead",
+        "pedestrian walking alongside stopped bus",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "bus changing lanes",
+        "construction item on road",
+        "bus with multiple pedestrians waiting on the right side"
+    ],
+    "75e8adad-50a6-3245-8726-5e612db3d165": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
         "vehicle stopped at construction barrel",
-        "vehicle to the back right of the ego vehicle",
-        "pedestrian walking past right side of vehicle",
+        "vehicle maneuvering between construction barriers",
+        "bus within 5 meters to either side of ego vehicle",
         "pedestrian to the back-right of the ego vehicle",
+        "pedestrians using designated crossing",
         "stationary construction barrel",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "motorcycle near construction cone"
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian near construction cone",
+        "pedestrian near bollard"
     ],
-    "b1527e96-5a5d-3adc-a893-314ab3a6012e": [
-        "dog near an intersection",
-        "dog near pedestrian",
-        "dog",
-        "vehicle changing lanes while on an intersection",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle near bollard",
-        "pedestrian with multiple dogs",
-        "any vehicle in front of stop sign",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian walking alongside stopped bus"
-    ],
-    "21f6ebe1-09c9-3a71-bdd9-58f45fbe9000": [
-        "vehicle navigating near multiple bicycles",
-        "two cars back from the ego vehicle",
-        "vehicle being overtaken on the right",
-        "truck without trailer",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "vehicle crossing path of another vehicle",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks",
-        "vehicle with multiple bicycles ahead"
-    ],
-    "595acd37-183c-489f-bb8a-c299a86b74c0": [
-        "stationary object",
-        "pedestrians over 30 meters away",
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrian walking past right side of vehicle",
-        "vehicle facing the ego vehicle",
-        "stop sign behind a pedestrian",
-        "vehicle at intersection facing another vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "oncoming vehicle changing lanes",
-        "vehicle changing lanes while on an intersection"
-    ],
-    "539b7a79-54c6-30ef-8e06-210d42c79125": [
-        "bicyclist on intersection",
-        "parked vehicle",
-        "bicycle traveling against traffic",
-        "vehicle at intersection facing another vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "pedestrian facing toward ego vehicle",
-        "regular vehicle turning right",
-        "bicyclist riding in vehicle lane",
-        "vehicle braking at pedestrian crossing",
-        "vehicle between two bicycles while on pedestrian crossing"
-    ],
-    "0b9321c1-9bc2-4727-beb8-8046aa4bb6c4": [
-        "pedestrian facing toward the bus",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle being crossed by a pedestrian",
-        "pedestrian facing toward ego vehicle",
-        "vehicle accelerating on intersection",
-        "bus with another bus in its lane",
-        "vehicle accelerating more than two meters per second",
-        "jaywalking pedestrian",
-        "passenger vehicle turning right",
-        "pedestrian crossing between stopped buses"
-    ],
-    "4977e8a8-4e1f-3ca2-a44e-454cd3756a5f": [
-        "regular vehicle turning right",
-        "passenger vehicle turning left at intersection",
-        "stroller",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian walking with stroller",
-        "vehicle two vehicles ahead is turning",
-        "truck sharing a lane with another truck",
-        "vehicle braking at pedestrian crossing"
-    ],
-    "e4d53680-f7ef-364b-91a4-00e5aa91ab9b": [
-        "box truck changing lanes to the right",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "ego vehicle approaching stopped delivery truck",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "box truck changing lanes ahead",
-        "school bus on intersection",
-        "truck without trailer",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "truck changing lanes to the right",
-        "pedestrian crossing in front of vehicle at crosswalk"
-    ],
-    "06852209-b868-306b-b492-ee6dbc914cf8": [
-        "group of people",
-        "vehicle turning right at stop sign",
-        "box trucks within 10 meters of an intersection",
-        "box truck braking in front of ego vehicle",
-        "any vehicle in front of stop sign",
-        "ego vehicle with parked bicycles ahead",
-        "active vehicle at stop sign",
-        "vehicle within 5 meters of a bicycle",
-        "bicycle traveling against traffic",
-        "ego vehicle approaching crossing pedestrians"
-    ],
-    "7e3d8631-3b7d-38c1-b833-ee7cfa7235ca": [
-        "vehicle two vehicles ahead is at a stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle within 5 meters of a bicycle",
-        "bicycle in same lane as a vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "vehicle with a bicycle to its right",
-        "vehicle changing lanes to the right",
-        "ego vehicle with parked bicycles ahead",
-        "bicycle passing by parked vehicle",
-        "motorcycle between stopped vehicles"
-    ],
-    "790d3c83-f6bf-348e-80e7-12f29240e598": [
-        "construction item on road",
-        "motorcycle between stopped vehicles",
-        "vehicle moving at crawling speed",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcycle between two vehicles",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "dog near pedestrian",
-        "vehicle braking at pedestrian crossing",
-        "pedestrian to the left of a truck"
-    ],
-    "e033cc8e-b23d-3fc6-8954-d90c5e98550e": [
-        "vehicle turning right near construction zone",
-        "vehicle with multiple construction cones on the left side",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle in vehicle lane with vehicle",
-        "car following closely behind bicyclist",
-        "bicycle following closely behind a vehicle",
-        "vehicle maneuvering between construction barriers",
-        "bicycle facing toward moving traffic",
-        "bicycle traveling alongside parked vehicles",
-        "group of pedestrians ahead of the ego vehicle"
-    ],
-    "20f785b0-e11a-3757-be79-b0731286c998": [
-        "bus in the same lane as a truck",
-        "vehicle two cars ahead is braking",
-        "ego vehicle with vehicles on both sides",
-        "pedestrian facing toward the bus",
-        "truck in the same lane as a bus",
-        "any vehicle in front of stop sign",
-        "vehicle to the back right of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "pedestrian near construction cone",
-        "pedestrian to the left of a truck"
-    ],
-    "07e4fccb-eb2d-31e5-bbcb-6550d0860f64": [
-        "vehicle stopped at construction barrel",
-        "vehicle near construction barrel",
-        "vehicle maneuvering between construction barriers",
-        "vehicle turning right near construction zone",
-        "vehicle accelerating while changing lanes",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "left lane change while there is a vehicle to the left",
-        "oncoming vehicle changing lanes",
-        "pedestrian walking between trailers",
-        "ego vehicle changing lanes to the left"
-    ],
-    "afbdd2e0-696a-3222-a20a-2023baf8e5af": [
-        "ego vehicle following vehicle being overtaken on right",
-        "object that hasn't moved",
-        "vehicle two vehicles ahead is braking",
-        "vehicle being passed on the left by another vehicle",
-        "motorcyclist",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle turning left while pedestrian crosses at crosswalk"
-    ],
-    "a2f568b5-060f-33f0-9175-7e2062d86b6c": [
-        "vehicle changing lanes to the right",
-        "vehicle navigating near multiple bicycles",
-        "object that hasn't moved",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian facing toward ego vehicle",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle being passed on the left by another vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "ego vehicle merging between two regular vehicles"
-    ],
-    "f150d98f-0109-3380-8480-c6846fb8e9c8": [
-        "vehicle passing truck with pedestrian crossing ahead",
-        "accelerating truck",
-        "turning left",
-        "truck on intersection",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle accelerating more than two meters per second",
-        "pedestrian to the left of a truck",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "truck sharing a lane with another truck",
-        "passenger vehicle turning right"
-    ],
-    "4bab74cd-aba9-4752-9e1f-006cc639d63e": [
-        "vehicle at intersection facing another vehicle",
-        "stop sign behind a pedestrian",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "pedestrian near stop sign",
-        "passenger vehicle near stroller in road",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian walking past right side of vehicle",
-        "objects getting closer to the ego vehicle",
-        "vehicle two vehicles ahead is at a stop sign",
-        "bicycle traveling against traffic"
-    ],
-    "95312039-73b9-35a2-9aec-905494a4f7f0": [
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle near construction barrel",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle to the back right of the ego vehicle",
-        "multiple buses within 50 meters ahead",
-        "vehicle stopped at construction barrel",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is turning",
-        "pedestrian walking alongside bollard"
-    ],
-    "dc4d148d-f84c-307c-b2b7-f0cd7c267f57": [
-        "vehicle with multiple pedestrians to the left",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "stopped car",
-        "bus with at least 3 pedestrians within 5 meters",
-        "vehicle approaching stopped vehicle at intersection"
-    ],
-    "334f7360-727f-3689-a5b7-b553322aece5": [
-        "pedestrians over 30 meters away",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle accelerating more than two meters per second",
-        "pedestrian facing toward ego vehicle",
-        "vehicle accelerating towards pedestrian crossing",
-        "two cars back from the ego vehicle",
-        "pedestrian walking alongside bollard",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "ego vehicle approaching crossing pedestrians"
-    ],
-    "81700b3c-2db4-3f72-935c-274d3607d6d2": [
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "dog",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "group of three people",
-        "vehicle navigating near multiple bicycles",
-        "dog near an intersection",
-        "pedestrian walking between two stopped vehicles",
-        "vehicle accelerating towards pedestrian crossing"
-    ],
-    "41e31361-569b-3ed8-bafd-2308b7a9377e": [
-        "ego vehicle with vehicles on both sides",
-        "dog",
-        "car turning right",
-        "bicyclist on intersection",
-        "ego vehicle two cars ahead of another vehicle",
-        "moving bus to the front-left of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicyclist riding in vehicle lane",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
-    ],
-    "8aeeeeca-6a79-34ef-b667-835d53536a8f": [
-        "group of pedestrians ahead of the ego vehicle",
-        "motorcyclist",
-        "vehicles being passed by a motorcycle on either side",
-        "pedestrian crossing at bollard",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "pedestrian walking alongside bollard",
-        "group of people",
-        "pedestrian near bollard",
-        "vehicle two vehicles ahead is braking",
-        "motorcycle or pedestrian within 5 meters to the right"
-    ],
-    "06e5ac08-f4cb-34ae-9406-3496f7cadc62": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle with vehicles on both sides",
-        "vehicle hard braking with another vehicle ahead",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "pedestrian facing toward the bus",
-        "turning left",
-        "motorcyclist",
-        "motorcycle near construction cone",
-        "bus with another bus in its lane"
-    ],
-    "64037371-4aa4-3fed-97f4-bafc1674caee": [
-        "dog on roadway",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle being crossed by a pedestrian",
-        "dog near pedestrian",
-        "dog near an intersection",
-        "vehicle stopped at a stop sign",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle facing and accelerating toward pedestrian on road"
-    ],
-    "ef4a46c4-138e-3478-b94e-3e60a567ec7d": [
-        "vehicle crossing path of another vehicle",
-        "vehicle being overtaken while approaching another vehicle",
-        "turning left",
-        "vehicle traveling over 20 meters per second",
-        "vehicle being overtaken on the left",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle following another vehicle too closely",
-        "vehicle accelerating on intersection",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle being passed on the left by another vehicle"
-    ],
-    "ce0575bf-c2fc-38bd-9947-ea7494a799f9": [
-        "vehicle facing the ego vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle facing toward parked vehicles",
-        "vehicle facing away from the ego vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle two vehicles ahead is braking",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle two vehicles ahead is at a stop sign"
-    ],
-    "3fa8c20e-a4b4-3af6-b9c4-6cb96f83916d": [
-        "vehicle turning right with pedestrian waiting",
-        "vehicle turning right with pedestrian in front",
-        "car turning right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "passenger vehicle turning right",
-        "vehicle crossing path of another vehicle",
-        "vehicle braking at pedestrian crossing",
-        "car turning right"
-    ],
-    "c556f8e0-a001-3586-b2cf-d3256685c39f": [
-        "vehicle changing lanes while on an intersection",
-        "parked vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle being overtaken on the right",
-        "vehicle sharing a lane with another vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle braking heavily",
-        "pedestrian crossing between stopped buses",
-        "ego vehicle changing lanes near construction zone"
-    ],
-    "53a8391f-b2d7-341f-95ce-b9174d48e040": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrian facing toward ego vehicle",
-        "vehicle two vehicles ahead is turning",
-        "vehicle turning at intersection with nearby pedestrians",
-        "objects getting closer to the ego vehicle",
-        "pedestrian walking past right side of vehicle",
-        "vehicle being overtaken on the right",
-        "ego vehicle changing lanes to the left",
-        "vehicle two vehicles ahead is at a stop sign"
-    ],
-    "ea6895f2-504b-37b5-bfd0-cbf7017f22c3": [
-        "bicycle traveling alongside parked vehicles",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle passing by parked vehicle",
-        "bus making right turn",
-        "bicycle facing toward a vehicle",
-        "pedestrian facing toward the bus",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle in same lane as a vehicle",
-        "ego vehicle passing parked bus",
-        "pedestrian crossing between bollards"
-    ],
-    "71d95611-9032-3787-a66e-e26313b08d46": [
-        "vehicle braking at pedestrian crossing",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle braking near pedestrian crossing",
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian to the left of a truck",
-        "bus changing lanes",
-        "vehicle turning right near construction zone",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle changing lanes while in bike lane",
-        "pedestrian walking alongside stopped bus"
-    ],
-    "ca4144fb-10e5-3895-836f-87001f59ac65": [
-        "stroller",
-        "vehicle being overtaken on the right",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle at intersection facing another vehicle",
-        "vehicle with multiple construction cones on the left side",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle two vehicles ahead is braking",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle turning right next to pedestrian with stroller",
-        "bicycle following closely behind a vehicle"
-    ],
-    "ac3e33eb-5a53-369d-9e5a-7950392bfe99": [
-        "ego vehicle following vehicle being overtaken on right",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle approaching stopped truck",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being crossed by a pedestrian",
-        "vehicle getting passed from the right",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle traveling over 20 meters per second",
-        "ego vehicle passing parked motorcycle"
-    ],
-    "a36f80a5-5edc-3842-80af-292ae639ee74": [
-        "ego vehicle approaching pedestrian at crosswalk",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "group of pedestrians ahead of the ego vehicle",
-        "stationary construction barrel",
-        "vehicle in close proximity to bicycle",
-        "bicycle following closely behind a vehicle",
-        "pedestrians using designated crossing",
-        "vehicle navigating near multiple bicycles",
-        "vehicle braking heavily",
-        "vehicle being overtaken on the left"
-    ],
-    "74f15437-b85e-314a-9d86-7294b98bf07f": [
-        "motorcyclist braking hard",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle stopped at a stop sign",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian crossing between bollards",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian on road not facing traffic",
-        "vehicle with multiple construction cones on the left side"
-    ],
-    "133e2e0b-b0fe-3bb0-b1f9-c846fcfd29e8": [
-        "traffic officer in roadway",
-        "vehicle stopped at official signaler",
-        "ego vehicle changing lanes to the left",
-        "ego vehicle passing official signaler",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrians over 30 meters away",
-        "box truck braking in front of ego vehicle",
-        "pedestrian to the left of a truck",
-        "ego vehicle near pedestrian crossing sign",
-        "vehicle two cars ahead is being crossed by a pedestrian"
-    ],
-    "5e9fc665-2353-34da-a2e7-2094ab17e790": [
-        "vehicle braking near pedestrian crossing",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
-        "bicycle near a bus",
-        "vehicle braking at pedestrian crossing",
-        "vehicle turning right with pedestrian in front",
-        "moving bus being crossed by a bicycle",
-        "vehicle moving at crawling speed",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle turning left with a bicycle in front of it",
-        "pedestrian crossing ahead of ego vehicle"
-    ],
-    "db17141d-4d35-381d-9949-36ce767d6641": [
-        "pedestrian near stop sign",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle with vehicles on both sides",
-        "car following closely behind bicyclist",
-        "bicyclist on intersection",
-        "vehicle turning left with a bicycle in front of it",
-        "bicycle crossing vehicle path at intersection",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle being overtaken",
-        "ego vehicle merging between two regular vehicles"
-    ],
-    "6ff3a51a-e0ab-32be-beb5-4079e56933c6": [
-        "a group of people",
-        "passenger vehicle turning left at intersection",
-        "pedestrian walking with dog on sidewalk",
-        "pedestrian walking with stroller",
-        "car with a stroller to its left",
-        "dog",
-        "vehicle with multiple bicycles ahead",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "objects getting closer to the ego vehicle",
-        "bicycle near traffic cone"
-    ],
-    "4058d838-75cb-35e2-af7e-a51aaa833271": [
-        "vehicle being passed on the left by another vehicle",
-        "ego vehicle with vehicles on both sides",
-        "vehicle following another vehicle too closely",
-        "vehicle facing toward parked vehicles",
-        "vehicle at intersection facing another vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle getting passed from the right",
-        "vehicle crossing path of another vehicle",
-        "motorcycle in bike lane",
-        "motorcycle or pedestrian within 5 meters to the right"
-    ],
-    "3153b5b3-d381-3664-8f82-1d3c5ca841d2": [
+    "7ce2a2ce-eed6-36d7-ba62-dda9acddb070": [
         "bicycle traveling alongside parked vehicles",
-        "bicycle behind a bus",
-        "bus making right turn",
-        "bicycle in same lane as a vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bus in bus lane",
-        "bus changing lanes",
-        "pedestrian near stop sign",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "pedestrian crossing in front of cyclist near intersection"
-    ],
-    "d78b78a0-2322-32c2-833a-e42ddc132d30": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle near construction barrel",
-        "accelerating passenger vehicle",
-        "stopped car",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian approaching a parked vehicle"
-    ],
-    "0c61aea3-3cba-35f3-8971-df42cd5b9b1a": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle accelerating on intersection",
-        "vehicle being crossed by a pedestrian",
-        "group of people",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "bicyclist changing lanes to the right",
-        "bicyclist within 3 meters on either side"
-    ],
-    "022af476-9937-3e70-be52-f65420d52703": [
-        "motorcyclist braking hard",
-        "oncoming vehicle changing lanes",
-        "motorcycle in bike lane",
-        "vehicles being passed by a motorcycle on either side",
-        "accelerating passenger vehicle",
-        "vehicle changing lanes while in bike lane",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "turning left",
-        "regular vehicles that are stopped or nearly stopped"
-    ],
-    "bb25d7d0-9146-46a0-8ff1-ebfc25d63417": [
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle being crossed by a pedestrian",
-        "stationary object",
-        "group of pedestrians ahead of the ego vehicle",
-        "object that hasn't moved",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle near construction cone",
-        "pedestrians using designated crossing",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "ego vehicle two cars ahead of another vehicle"
-    ],
-    "7a1412d3-5a53-378f-85df-ba58b2408f46": [
-        "ego vehicle near construction barrel",
-        "motorcycle in bike lane",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "accelerating passenger vehicle",
-        "oncoming vehicle changing lanes",
-        "vehicle crossing path of another vehicle",
-        "stationary construction barrel",
-        "vehicle near construction barrel",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian to the back-right of the ego vehicle"
-    ],
-    "aed1b616-9d9a-36d3-a047-07ad3955fbb7": [
-        "pedestrian on road not facing traffic",
-        "box trucks within 10 meters of an intersection",
-        "bicyclist on intersection",
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "ego vehicle changing lanes to the left",
-        "bicycle traveling with vehicle traffic",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicycle near traffic cone",
-        "vehicle turning at intersection with nearby pedestrians"
-    ],
-    "e1450d07-faed-3d97-b674-c6f8d2498d80": [
-        "group of people",
-        "dog near an intersection",
-        "stationary object",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle turning right at stop sign",
-        "parked vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "dog on roadway",
-        "pedestrian approaching a parked vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle"
-    ],
-    "4a789b07-7578-36ec-89cd-68b01e0737fb": [
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrian facing toward ego vehicle",
-        "pedestrian walking alongside stopped bus",
-        "car driving in bus lane",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian on intersection not using a crosswalk",
-        "bus in bus lane",
-        "pedestrian facing toward the bus",
-        "vehicle changing lanes while in bike lane",
-        "vehicle passing stopped truck with pedestrian nearby"
-    ],
-    "87918291-e9ba-3759-be1a-4c874ca40997": [
-        "vehicle sharing a lane with another vehicle",
-        "parked vehicle",
-        "vehicle making a right turn",
-        "vehicle facing away from the ego vehicle",
-        "multiple buses within 50 meters ahead",
-        "passenger vehicle turning right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle near multiple bollards",
-        "ego vehicle near bollard",
-        "vehicle being overtaken on the right"
-    ],
-    "a8a3297d-62f3-31ac-8db7-95ef53ce0d31": [
-        "motorcyclist braking hard",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle being overtaken on the left",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle being overtaken while approaching another vehicle",
-        "truck without trailer",
-        "active vehicle at stop sign",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle"
-    ],
-    "3c3ed78e-1fcf-30ec-9e19-9bf142e2621d": [
-        "railed vehicle",
-        "passenger vehicle turning right",
-        "school bus on intersection",
         "pedestrian walking with stroller",
-        "parked box trucks",
-        "multiple buses within 50 meters ahead",
-        "accelerating truck",
-        "stroller",
-        "school bus at pedestrian crossing",
-        "vehicle passing stopped school bus"
-    ],
-    "4d9e3bdf-7216-3161-8281-72863f3c2bf6": [
-        "moving bicycle directly to the left of the ego vehicle",
-        "vehicle turning left with a bicycle in front of it",
-        "bicyclist on intersection",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle approaching stopped vehicle at intersection",
-        "bicycle traveling against traffic",
-        "truck without trailer",
-        "objects getting closer to the ego vehicle",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "vehicle two vehicles ahead is at a stop sign"
-    ],
-    "93c97162-a834-3331-b15c-e4ab278b1c6d": [
-        "vehicle two cars ahead is changing lanes",
-        "truck sharing a lane with another truck",
-        "vehicle two vehicles ahead is changing lanes",
-        "motorcycle between stopped vehicles",
-        "vehicle facing toward parked vehicles",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "accelerating vehicle changing lanes to the right",
-        "motorcycle near construction cone",
-        "truck in the same lane as a bus"
-    ],
-    "087695bd-c662-3e86-83b4-aedc3b8eec36": [
-        "turning left",
-        "vehicle accelerating on intersection",
-        "vehicle turning right with pedestrian waiting",
-        "jaywalking pedestrian",
-        "the active vehicle in front of the vehicle ahead",
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle stopped at construction barrel",
-        "stop sign behind a pedestrian",
-        "vehicle braking at pedestrian crossing"
-    ],
-    "0a132537-3aec-35bb-af13-7faa0811000d": [
-        "pedestrians over 30 meters away",
-        "turning left",
-        "jaywalking pedestrian",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrian walking alongside bollard",
-        "ego vehicle approaching crossing pedestrians",
-        "ego vehicle near construction cone",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle being tailgated while approaching stopped traffic"
-    ],
-    "1d43ed4e-e705-308a-bdfa-49d99285c42a": [
-        "pedestrian facing toward the bus",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle passing truck with pedestrian crossing ahead",
         "vehicle turning right with pedestrian waiting",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "bus with at least 3 pedestrians within 5 meters",
-        "accelerating vehicle changing lanes to the right",
-        "bus making right turn"
-    ],
-    "05fb81ab-5e46-3f63-a59f-82fc66d5a477": [
-        "group of three people",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "bus with multiple pedestrians waiting on the right side",
-        "city bus",
-        "bus making right turn",
-        "pedestrian on road not facing traffic",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "unattended dog",
-        "vehicle changing lanes to the right"
-    ],
-    "80f31501-6533-3257-9870-b0c4dbf61967": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle changing lanes to the right",
-        "vehicle changing lanes while on an intersection",
-        "pedestrian crossing between bollards",
-        "ego vehicle with parked bicycles ahead",
-        "left lane change while there is a vehicle to the left",
-        "group of people",
-        "pedestrian crossing between stopped buses",
-        "bicycle traveling alongside parked vehicles"
-    ],
-    "9d65b03d-b59d-3a45-ba66-e313d3cdab40": [
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "dog crossing in front of vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "bus with multiple pedestrians waiting on the right side",
-        "dog on roadway",
-        "stroller",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "dog near an intersection",
-        "vehicle two vehicles ahead is at a stop sign",
-        "any vehicle in front of stop sign"
+        "stroller in the same lane as a regular vehicle",
+        "unattended stroller",
+        "passenger vehicle near stroller in road",
+        "ego vehicle approaching cyclist in same lane",
+        "multiple pedestrians crossing ahead",
+        "bicycle passing by parked vehicle"
     ],
-    "35f32393-e82f-3b20-b214-1f6a43d60f23": [
-        "bicycle in vehicle lane with vehicle",
-        "dog near pedestrian",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+    "da30abcf-652b-38df-a128-10942b225ec5": [
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle with animal in front",
+        "box truck braking in front of ego vehicle",
+        "vehicle changing lanes",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "box truck with multiple construction cones to its right",
+        "pedestrian walking alongside bollard",
+        "stationary construction barrel"
+    ],
+    "7c5e3704-33c8-3a4e-b032-9187a6f90206": [
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle traveling alongside parked vehicles",
+        "multiple pedestrians crossing ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle turning left with a bicycle in front of it",
         "bicycle passing by parked vehicle",
-        "pedestrian walking with stroller",
-        "motorcyclist braking hard",
-        "stroller",
-        "bicycle traveling with vehicle traffic",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "multiple motorcycles ahead of the ego vehicle"
+        "ego vehicle approaching crossing pedestrians",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle being passed on the left by another vehicle"
     ],
-    "3f9796e9-c892-3915-b719-3292df878ece": [
-        "dog near an intersection",
-        "pedestrian between moving vehicles on both sides",
-        "dog on roadway",
-        "pedestrian near stop sign",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle facing and heading toward pedestrian group",
+    "a059b6b9-ca26-4881-bcf7-d202433de0c2": [
+        "truck sharing a lane with another truck",
+        "oncoming vehicle changing lanes",
         "vehicle accelerating towards pedestrian crossing",
-        "box trucks within 10 meters of an intersection",
-        "ego vehicle with box truck ahead and motorcycle behind",
-        "parked box trucks"
+        "stopped car",
+        "vehicle braking near pedestrian crossing",
+        "vehicle near multiple bollards",
+        "vehicle two cars ahead is braking",
+        "vehicle traveling over 20 meters per second",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle being overtaken on the left"
     ],
-    "ede387f4-f390-3f0e-a071-eb543b73ed73": [
-        "accelerating truck",
-        "motorcyclist braking hard",
-        "vehicle two cars ahead is changing lanes",
-        "oncoming vehicle changing lanes",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicles being passed by a motorcycle on either side",
-        "box trucks within 10 meters of an intersection",
+    "adbb2a17-a503-32cd-a9ed-b523b3e4da0b": [
+        "car turning right",
+        "vehicle being overtaken while approaching another vehicle",
+        "passenger vehicle turning left at intersection",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle being overtaken on the left",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle changing lanes while on an intersection",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "pedestrian walking past right side of vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead"
+    ],
+    "8c54e429-a3de-3eb3-96f3-d3127e2cc18f": [
+        "box truck with multiple construction cones to its right",
         "motorcycle near construction cone",
-        "ego vehicle approaching stopped truck",
-        "pedestrian approaching a parked vehicle"
+        "bicycle traveling with vehicle traffic",
+        "bicyclist riding in vehicle lane",
+        "bicyclist on intersection",
+        "bicyclist within 3 meters on either side",
+        "bicycle traveling alongside parked vehicles",
+        "ego vehicle approaching cyclist in same lane",
+        "moving bicycle directly to the left of the ego vehicle",
+        "jaywalking pedestrian"
     ],
-    "cdd752d0-caee-3d95-b1db-7fc20cbbc783": [
-        "vehicle being crossed by a pedestrian",
-        "vehicle facing toward a pedestrian at a crosswalk",
+    "b9f73e2a-292a-3876-b363-3ebb94584c7a": [
+        "bicycle following closely behind a vehicle",
+        "vehicle stopped at a stop sign",
         "vehicle with a bicycle to its right",
-        "vehicle following another vehicle too closely",
-        "bus with at least 3 pedestrians within 5 meters",
-        "the vehicle two cars in front of the ego vehicle",
+        "stop sign behind a pedestrian",
+        "car following closely behind bicyclist",
+        "bicycle on intersection",
         "vehicle within 5 meters of a bicycle",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicycle traveling with vehicle traffic",
-        "pedestrian walking alongside bollard"
+        "objects getting closer to the ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "bicycle facing toward moving traffic"
     ],
-    "b48d6d4b-f0dd-35da-850d-36a715691e2f": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle changing lanes while on an intersection",
-        "parked vehicle",
-        "vehicle facing away from the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
+    "37fcd8ac-c148-3c4a-92ac-a10f355451b7": [
+        "vehicle being tailgated while approaching stopped traffic",
+        "bus with at least 3 pedestrians within 5 meters",
+        "pedestrian on road not facing traffic",
+        "vehicle at a stop sign",
+        "bus with multiple pedestrians waiting on the right side",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
         "moving pedestrian within 3 meters to the left of ego vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle two vehicles ahead is at a stop sign",
-        "ego vehicle near mobile pedestrian sign",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
-    ],
-    "e453f164-dd36-3f1a-9471-05c2627cbaa5": [
-        "pedestrian walking alongside stopped bus",
+        "bus with another bus in its lane",
         "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle braking heavily",
-        "pedestrian facing toward the bus",
-        "pedestrian on road not facing traffic",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "group of three people",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle stopped at a stop sign"
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "5ccb359a-2986-466c-88b2-a16f51774a8f": [
-        "vehicle facing and heading toward pedestrian group",
-        "ego vehicle near construction barrel",
-        "vehicle being tailgated while approaching stopped traffic",
-        "left lane change while there is a vehicle to the left",
-        "objects getting closer to the ego vehicle",
-        "vehicle stopped at construction barrel",
-        "vehicle maneuvering between construction barriers",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian to the back-right of the ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    "1bf2bf1c-64d1-308f-afd1-220de9d30290": [
+        "accelerating passenger vehicle",
+        "vehicle braking heavily",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle accelerating towards pedestrian crossing",
+        "car turning right",
+        "school bus at pedestrian crossing",
+        "school bus on intersection",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "eb69a196-fb43-3ddf-9bbe-9d55fa1e8200": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "multiple pedestrians crossing ahead",
-        "pedestrian near construction cone",
-        "pedestrian crossing between bollards",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle within 5 meters of a bicycle",
+    "285ac213-8caf-31a4-b0fa-c240580f7f69": [
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "oncoming vehicle changing lanes",
+        "passenger vehicle turning left at intersection",
+        "car turning right",
+        "parked box trucks",
         "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing",
-        "truck on intersection"
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle braking heavily",
+        "vehicle turning at intersection with nearby pedestrians"
     ],
-    "5d40499f-c9be-38b9-a0cb-cd234850ba85": [
-        "stationary object",
+    "11995cbe-e076-3a35-910d-1e56ecf2c3c8": [
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "accelerating passenger vehicle",
+        "vehicle accelerating towards pedestrian crossing",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "truck in the same lane as a bus",
+        "vehicle near multiple bollards",
+        "left lane change while there is a vehicle to the left",
+        "motorcyclist",
+        "group of pedestrians ahead of the ego vehicle",
+        "two cars back from the ego vehicle"
+    ],
+    "58a6bfcf-071e-3a6d-90f4-0e4cbdc298eb": [
+        "vehicle two cars ahead is braking",
+        "vehicle two vehicles ahead is braking",
+        "left lane change while there is a vehicle to the left",
+        "vehicle moving at crawling speed",
         "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "a group of people",
-        "vehicle changing lanes",
-        "pedestrians over 30 meters away",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle being overtaken on the right",
-        "ego vehicle near pedestrian crossing sign",
-        "accelerating wheeled devices"
+        "vehicle near multiple bollards",
+        "box truck changing lanes ahead",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle near construction barrel",
+        "vehicle changing lanes while on an intersection"
     ],
-    "7a17d467-9f29-3706-8e40-32bb7fb033de": [
-        "ego vehicle near construction barrel",
-        "vehicle stopped at construction barrel",
-        "motorcycle between two vehicles",
-        "ego vehicle approaching cyclist in same lane",
-        "motorcycle between stopped vehicles",
-        "bicyclist within 3 meters on either side",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle traveling alongside construction indicators",
-        "vehicle accelerating aggressively",
-        "vehicle approaching stopped vehicle at intersection"
+    "9e684390-4af3-3ec5-b163-855bbd026ff1": [
+        "pedestrians over 30 meters away",
+        "the vehicle two cars behind the ego vehicle",
+        "bicycle sharing lane as a regular vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle in close proximity to bicycle",
+        "ego vehicle approaching stopped truck",
+        "vehicle being passed on the left by another vehicle",
+        "passenger vehicle turning left at intersection",
+        "vehicle surrounded by bicycles on all sides",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing"
     ],
-    "106d962b-911d-354d-961d-9abe93119b9c": [
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle turning right next to pedestrian with stroller",
-        "bus making right turn",
-        "car with a stroller to its left",
-        "vehicle turning while pedestrian crosses with stroller",
-        "vehicle approaching stopped vehicle at intersection",
-        "bicycle in same lane as a vehicle",
-        "bus with another bus in its lane",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
+    "0b324587-6097-3f92-a07a-a44f48c85d9e": [
+        "stop sign behind a pedestrian",
+        "vehicle turning right with pedestrian in front",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle crossing path of another vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "vehicle changing lanes while on an intersection",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle turning left"
     ],
-    "6ee14358-31cb-3c6d-82f5-54d6a20444de": [
-        "accelerating truck",
-        "active vehicle at stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle moving at crawling speed",
-        "truck sharing a lane with another truck",
+    "35d5649b-f311-3177-8374-f9adf68781f3": [
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle turning right near construction zone",
+        "city bus",
+        "construction item on road",
+        "pedestrian facing toward ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle crossing path of another vehicle",
+        "two cars back from the ego vehicle",
         "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle two vehicles ahead is at a stop sign",
-        "passenger vehicle swerving left"
+        "ego vehicle near construction cone"
     ],
-    "70e92418-e4e6-32a2-98c8-9844b1c24f92": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle two vehicles ahead is turning",
-        "vehicles being passed by a motorcycle on either side",
-        "motorcyclist",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle with multiple bicycles ahead",
-        "motorcycle between two vehicles",
+    "ab3d8387-8e07-37f6-a74c-cf100fb6a612": [
+        "traffic officer in roadway",
+        "ego vehicle passing official signaler",
+        "bicycle traveling alongside parked vehicles",
+        "vehicle turning left",
+        "bicyclist on intersection",
+        "bus within 5 meters to either side of ego vehicle",
         "bicycle traveling with vehicle traffic",
-        "bicycle facing toward moving traffic"
-    ],
-    "3b68c074-1680-3a93-92e5-5b711406f2fe": [
-        "dog on roadway",
-        "group of pedestrians ahead of the ego vehicle",
-        "dog near an intersection",
-        "pedestrian facing toward the bus",
-        "city bus",
-        "vehicle turning right at stop sign",
-        "moving bus to the front-left of the ego vehicle",
-        "car turning right",
-        "ego vehicle near articulated bus",
-        "pedestrian crossing ahead of ego vehicle"
+        "vehicle stopped at official signaler",
+        "ego vehicle approaching construction zone with traffic controller",
+        "dog crossing in front of vehicle"
     ],
-    "44200521-4cad-3a5d-8568-e0f3f1ca24d4": [
-        "vehicle turning right near construction zone",
-        "vehicle facing and heading toward pedestrian group",
-        "passenger vehicle turning left at intersection",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "ego vehicle near construction barrel",
+    "7b0bf9d6-084a-31d4-9e52-d9b582a0ec84": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "box truck in bike lane",
         "vehicle approaching pedestrians waiting at a crosswalk",
-        "construction item on road",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle at a stop sign",
-        "pedestrian approaching a parked vehicle"
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle traveling over 20 meters per second",
+        "pedestrians using designated crossing",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "jaywalking pedestrian"
     ],
-    "3dd173a6-8b21-3189-bd53-132919b96a48": [
-        "pedestrian on road not facing traffic",
-        "ego vehicle near construction barrel",
-        "vehicle near construction barrel",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+    "2772dd5f-bc0a-47ea-ae19-a5e0dbef8f41": [
+        "bicycle behind a bus",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle with multiple construction cones on the left side",
+        "bus changing lanes",
+        "car with a stroller to its left",
+        "pedestrian facing toward the bus",
+        "ego vehicle following vehicle being overtaken on right",
+        "bicycle in vehicle lane with vehicle",
         "motorcycle overtaking a vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "a group of people",
-        "truck being passed by ego vehicle while nearby pedestrians cross between construction barriers",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "bus with at least 3 pedestrians within 5 meters"
     ],
-    "768cf7e2-eb6c-3468-969e-e3b0fd87b34e": [
-        "vehicle to the back right of the ego vehicle",
-        "car turning right",
-        "vehicle two vehicles ahead is turning",
-        "accelerating passenger vehicle",
-        "stopped car",
-        "object that hasn't moved",
-        "passenger vehicle turning left at intersection",
-        "passenger vehicle turning right",
+    "e66d1403-755b-3f63-938b-a2a69446a48a": [
+        "vehicle sharing a lane with another vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "ego vehicle with vehicles on both sides",
+        "active vehicle at stop sign",
+        "ego vehicle changing lanes to the left",
+        "vehicle traveling in the opposite direction as the ego vehicle",
         "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "objects getting closer to the ego vehicle"
+        "vehicle moving at crawling speed",
+        "bicycle facing toward moving traffic",
+        "vehicle passing truck with pedestrian crossing ahead"
     ],
-    "d33f667d-7b6c-39aa-9ba9-eac2fa615ae1": [
-        "bicycle traveling with vehicle traffic",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "ego vehicle approaching cyclist in same lane",
+    "1a6487dd-8bc6-3762-bd8a-2e50e15dbe75": [
         "pedestrian walking with stroller",
-        "vehicle surrounded by bicycles on all sides",
-        "bicycle traveling against traffic",
-        "bicycle sharing lane as a regular vehicle",
-        "vehicle turning right with pedestrian in front",
+        "box truck braking in front of ego vehicle",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle changing lanes to the right",
+        "pedestrian crossing at bollard",
+        "bus with multiple pedestrians waiting on the right side",
+        "stroller",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "passenger vehicle near stroller in road",
         "vehicle turning right next to pedestrian with stroller"
     ],
-    "ed6ad297-ee09-3532-bcfc-c16ad5a05c49": [
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "turning left",
-        "any vehicle in front of stop sign",
-        "the active vehicle in front of the vehicle ahead",
-        "active vehicle at stop sign",
-        "pedestrian walking past right side of vehicle",
-        "vehicle at intersection facing another vehicle",
-        "vehicle changing lanes while in bike lane",
-        "pedestrian walking alongside bollard"
-    ],
-    "4619e709-c9c0-3b26-923f-23a78e231136": [
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian near stop sign",
-        "regular vehicle turning right",
-        "pedestrian near construction cone",
+    "4207ef92-0b3b-4708-8868-4ffcaef308e0": [
+        "vehicle two cars ahead is braking",
+        "vehicle being passed on the left by another vehicle",
         "construction item on road",
-        "passenger vehicle turning left at intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "parked box trucks",
+        "vehicle to the back right of the ego vehicle",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "bicycle traveling against traffic",
+        "box trucks within 10 meters of an intersection"
+    ],
+    "8606d399-57d4-3ae9-938b-db7b8fb7ef8c": [
+        "box truck with multiple construction cones to its right",
+        "motorcycle near stop sign",
         "pedestrian walking with stroller",
-        "vehicle turning at intersection with nearby pedestrians",
-        "stationary construction barrel",
-        "vehicle at a stop sign"
+        "box truck changing lanes ahead",
+        "bus with multiple pedestrians waiting on the right side",
+        "box truck changing lanes to the right",
+        "bus changing lanes",
+        "pedestrian crossing between bollards",
+        "box truck near at least 3 construction cones",
+        "motorcycle between stopped vehicles"
     ],
-    "df738339-958b-31fb-8e48-a4380f4c538a": [
-        "bicycle facing toward moving traffic",
-        "vehicle navigating near multiple bicycles",
+    "14bf638b-8f0d-35b2-a369-6d846b5b3892": [
+        "vehicle making a right turn",
+        "vehicle accelerating on intersection",
+        "bicycle traveling with vehicle traffic",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle accelerating towards pedestrian crossing",
+        "two cars back from the ego vehicle",
+        "pedestrian between moving vehicles on both sides",
+        "bus making right turn",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle approaching and facing a stopped vehicle at an intersection"
+    ],
+    "dbe19bf6-93ad-372e-b96d-f7b652cdba93": [
+        "vehicle in close proximity to bicycle",
+        "stroller",
+        "bus making right turn",
+        "pedestrian approaching a parked vehicle",
+        "truck on intersection",
+        "pedestrian walking alongside bollard",
+        "bus in bus lane",
+        "car driving in bus lane",
+        "bus with at least 3 pedestrians within 5 meters",
+        "vehicle approaching stopped vehicle at intersection"
+    ],
+    "366ceb72-9f11-385a-8bc9-a26a18dbdd22": [
+        "dog",
+        "group of pedestrians ahead of the ego vehicle",
+        "bus within 5 meters to either side of ego vehicle",
         "stroller",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
         "pedestrian walking with stroller",
-        "vehicle turning left with a bicycle in front of it",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "accelerating wheeled devices"
+        "vehicle following another vehicle too closely",
+        "vehicle turning right near construction zone",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "bicycle behind a bus",
+        "vehicle changing lanes near message board trailer"
     ],
-    "3c58172c-7a07-3ad4-bdf6-7cae60928c56": [
-        "vehicle making a right turn",
-        "pedestrian crossing ahead of ego vehicle",
-        "multiple pedestrians crossing ahead",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle two vehicles ahead is turning",
-        "car turning right",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle in close proximity to bicycle"
+    "eb142141-683a-3a6d-a207-0302b1ff260d": [
+        "vehicle two cars ahead is braking",
+        "vehicle in close proximity to bicycle",
+        "bicycle following closely behind a vehicle",
+        "school bus at pedestrian crossing",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle with a bicycle to its right",
+        "bicycle traveling alongside construction indicators",
+        "oncoming vehicle changing lanes",
+        "school bus on intersection",
+        "vehicle turning right near construction zone"
+    ],
+    "38609ed6-2445-3df3-bd92-849d3963510e": [
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "ego vehicle near bollard",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "objects getting closer to the ego vehicle",
+        "bicycle near school bus",
+        "pedestrians facing each other at close range, possibly conversing",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "pedestrian on intersection not using a crosswalk",
+        "stroller"
+    ],
+    "924116d9-0a48-3d97-b8c9-0d16b087c16a": [
+        "vehicle moving at crawling speed",
+        "vehicle facing toward parked vehicles",
+        "box truck changing lanes to the right",
+        "truck without trailer",
+        "vehicle near multiple bollards",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "box truck changing lanes to the left",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle to the back right of the ego vehicle"
+    ],
+    "d201af7e-48c8-34ad-be1c-e649af2cb5c2": [
+        "dog",
+        "vehicle following another vehicle too closely",
+        "vehicle being overtaken on the right",
+        "unattended dog",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian approaching a parked vehicle",
+        "vehicle accelerating on intersection",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "car driving in bus lane"
+    ],
+    "d37be0e2-8223-3eeb-a0e2-c4b75d5ff87b": [
+        "the vehicle two cars behind the ego vehicle",
+        "two cars back from the ego vehicle",
+        "pedestrian near bollard",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle at intersection facing another vehicle",
+        "pedestrians using designated crossing",
+        "truck on intersection",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle changing lanes through bike lane"
     ],
-    "8911207d-fc3d-3009-bb35-18138197724f": [
-        "motorcyclist braking hard",
+    "7cb4b11f-3872-3825-83b5-622e1a2cdb28": [
+        "accelerating vehicle changing lanes to the right",
         "vehicle stopped at a stop sign",
+        "bicycle behind a bus",
+        "moving bus to the front-left of the ego vehicle",
+        "jaywalking pedestrian",
+        "pedestrian approaching a parked vehicle",
+        "vehicle with multiple bicycles ahead",
+        "vehicle turning at intersection with nearby pedestrians",
+        "bicycle near a bus",
+        "vehicle surrounded by bicycles on all sides"
+    ],
+    "4935629c-fd9e-3b2f-b68e-9489c89585df": [
+        "box truck braking in front of ego vehicle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle at intersection facing another vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "ego vehicle approaching intersection with crossing dog",
         "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle being crossed by a pedestrian",
-        "vehicle turning right at stop sign",
-        "active vehicle at stop sign",
-        "pedestrians using designated crossing",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle being overtaken on the left",
+        "vehicle being overtaken on the right",
+        "vehicle between two bicycles while on pedestrian crossing"
+    ],
+    "34fe8fbd-2b1a-3552-94c4-e80d1e85e5c2": [
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "ego vehicle merging between two regular vehicles",
-        "vehicle being tailgated while approaching stopped traffic"
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "pedestrian facing away from the ego vehicle",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle crossing path of another vehicle",
+        "two cars back from the ego vehicle",
+        "jaywalking pedestrian",
+        "vehicle being overtaken on the left"
     ],
-    "e1e9d341-716f-3613-9ec2-2201c72361af": [
-        "group of three people",
-        "parked box trucks",
-        "accelerating passenger vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
+    "df321672-461c-361b-aac9-e81cc9a88b9f": [
+        "group of people",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "bicycle facing toward moving traffic",
         "vehicle hard braking with another vehicle ahead",
-        "ego vehicle near construction cone",
-        "motorcyclist",
-        "group of pedestrians ahead of the ego vehicle",
-        "lane splitting motorcycle",
+        "vehicle being crossed by a pedestrian",
+        "vehicle in close proximity to bicycle",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian approaching a parked vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
         "vehicle turning right with pedestrian in front"
     ],
-    "c2f301b6-5d19-3296-a8ac-418ff48e052b": [
-        "vehicle being overtaken on the left",
-        "vehicle braking heavily",
-        "making a left lane change while there is a vehicle to the right",
-        "bus changing lanes",
-        "vehicle crossing path of another vehicle",
-        "vehicle changing lanes to the right",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle being overtaken on the right",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian on road not facing traffic"
-    ],
-    "349c4c1c-9561-360f-9ae7-59772335d54b": [
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrians over 30 meters away",
-        "stationary construction barrel",
-        "vehicle being crossed by a pedestrian",
-        "car driving in bus lane",
-        "pedestrian walking past right side of vehicle",
-        "ego vehicle near construction barrel",
-        "moving pedestrian within 3 meters to the left of ego vehicle"
+    "f110598d-7e01-3ed7-a227-4e958987a31f": [
+        "bicycle traveling against traffic",
+        "bicycle traveling with vehicle traffic",
+        "vehicle approaching stopped vehicle at intersection",
+        "bicycle sharing lane as a regular vehicle",
+        "bicycle passing by parked vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle traveling alongside parked vehicles",
+        "bicyclist within 3 meters on either side",
+        "ego vehicle changing lanes to the left"
     ],
-    "f7cf93d8-f7bd-3799-8500-fbe842a96f63": [
-        "stopped car",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "bus within 5 meters to either side of ego vehicle",
-        "turning left",
-        "moving bus to the front-left of the ego vehicle",
-        "two cars back from the ego vehicle",
-        "pedestrians over 30 meters away",
-        "ego vehicle near bollard",
-        "vehicle turning right at stop sign",
-        "vehicle crossing path of another vehicle"
+    "226199ab-c791-32a7-8bab-ab92878eb199": [
+        "bicycle near traffic cone",
+        "pedestrian crossing between bollards",
+        "bus in bus lane",
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "motorcyclist braking hard",
+        "vehicle accelerating on intersection",
+        "bus with another bus in its lane",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "abd4fe8d-7520-3b35-b8ac-4de367141b6f": [
-        "passenger vehicle swerving left",
-        "motorcyclist",
-        "vehicle with a bicycle to its right",
-        "vehicle stopped at a stop sign",
+    "444cce44-cc82-4620-b630-1b5849284ac7": [
+        "vehicle accelerating more than two meters per second",
+        "vehicle two vehicles ahead is braking",
+        "bicycle crossing vehicle path at intersection",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "stroller",
+        "motorcyclist braking hard",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
         "box trucks within 10 meters of an intersection",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle in close proximity to bicycle",
-        "active vehicle at stop sign",
-        "left lane change while there is a vehicle to the left",
-        "ego vehicle near pedestrian crossing sign"
+        "pedestrian crossing in front of cyclist near intersection",
+        "accelerating truck"
     ],
-    "937093d8-7966-3df3-b334-0835595412b6": [
-        "passenger vehicle turning right",
-        "pedestrian near stop sign",
-        "accelerating vehicle changing lanes to the right",
-        "regular vehicle turning right",
-        "vehicle near multiple bollards",
-        "ego vehicle near construction cone",
+    "2501c6d0-071c-3a7a-b51f-c8cbd37abe25": [
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "truck on intersection",
+        "vehicle with multiple pedestrians to the left",
+        "box truck at stop sign",
+        "vehicle in close proximity to bicycle",
         "vehicle with multiple construction cones on the left side",
-        "vehicle making a right turn",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian approaching a parked vehicle"
+        "vehicle facing and heading toward pedestrian group",
+        "jaywalking pedestrian",
+        "motorcycle or pedestrian within 5 meters to the right"
     ],
-    "53f5011b-2a8f-3a73-9d86-805462bb542d": [
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "pedestrian crossing between bollards",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle approaching stopped vehicle at intersection",
-        "objects getting closer to the ego vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+    "a8a2fbc2-8e77-35a0-9208-f882c3cb2a5c": [
+        "bicycle behind a bus",
+        "motorcycle in the same lane as a box truck",
+        "car following closely behind bicyclist",
+        "bicycle near school bus",
+        "moving bicycle directly to the left of the ego vehicle",
+        "pedestrian to the left of a truck",
         "vehicle turning right with pedestrian in front",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle making a right turn"
+        "bicycle near a bus",
+        "ego vehicle changing lanes to the left",
+        "dog near an intersection"
     ],
-    "eec8ae97-8de4-354a-b11a-d3a14b276479": [
-        "vehicle maneuvering between construction barriers",
-        "vehicle near construction barrel",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle stopped at construction barrel",
-        "construction item on road",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "stop sign behind a pedestrian",
-        "turning left",
-        "vehicle two vehicles ahead is at a stop sign",
-        "the vehicle two cars in front of the ego vehicle"
+    "7ccdda39-69b1-36d1-89c8-2acc3823264b": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "multiple buses within 50 meters ahead",
+        "box truck braking in front of ego vehicle",
+        "vehicle changing lanes while on an intersection",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle changing lanes",
+        "vehicle in close proximity to bicycle"
     ],
-    "31f062b7-dd17-3e7e-945d-198e91597de9": [
-        "ego vehicle with vehicles on both sides",
-        "pedestrian facing toward ego vehicle",
-        "group of three people",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian walking past right side of vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrians over 30 meters away",
-        "moving wheelchair within 5 meters of an intersection",
-        "vehicle following another vehicle too closely"
+    "120d7ac7-cce3-359e-a19c-1b9c0abd6be2": [
+        "accelerating passenger vehicle",
+        "vehicle changing lanes",
+        "vehicle accelerating on intersection",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle changing lanes while on an intersection",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "bicycle following closely behind a vehicle",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle crossing path of another vehicle"
     ],
-    "d26b95e4-d200-34e2-92c9-c16fda4cd9dd": [
+    "b21b7285-2199-3264-b10a-524e9b23502a": [
+        "vehicle getting passed from the right",
+        "bicyclist riding in vehicle lane",
+        "motorcycle near construction cone",
+        "bicycle behind a bus",
+        "bicycle near a bus",
         "vehicle two vehicles ahead is braking",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle being overtaken on the left",
-        "vehicle following another vehicle too closely",
-        "vehicle braking heavily",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "ego vehicle near bollard"
+        "bicycle on intersection",
+        "vehicle in close proximity to bicycle",
+        "bicycle sharing lane as a regular vehicle",
+        "truck cab with trailer sharing lane with regular vehicle"
     ],
-    "b7fbc13b-47ff-3e3f-a363-86d60ba664b8": [
-        "accelerating vehicle changing lanes to the right",
-        "group of people",
-        "a group of people",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian near construction cone",
-        "vehicle changing lanes to the right",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle two vehicles ahead is changing lanes",
-        "motorcycle between stopped vehicles",
-        "vehicle with multiple pedestrians to the left"
+    "0d9e4cff-73ff-33eb-9981-795475e62faf": [
+        "ego vehicle approaching stopped truck",
+        "bus within 5 meters to either side of ego vehicle",
+        "jaywalking pedestrian",
+        "bus making right turn",
+        "city bus",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bus with another bus in its lane",
+        "pedestrian near stop sign",
+        "vehicle being overtaken while approaching another vehicle",
+        "bicycle facing toward moving traffic"
     ],
-    "9efe1171-6faf-3427-8451-8f6469f7678e": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "city bus",
+    "1a7e18b5-d8dc-371d-be5f-03a37b113e81": [
+        "bus in the same lane as a truck",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "ego vehicle following vehicle being overtaken on right",
+        "ego vehicle approaching stopped delivery truck",
+        "truck without trailer",
+        "multiple buses within 50 meters ahead",
+        "moving bus to the front-left of the ego vehicle",
+        "truck in the same lane as a bus",
         "pedestrian between moving vehicles on both sides",
-        "pedestrian turning and watching the ego vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle in close proximity to bicycle",
-        "pedestrian near construction cone",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "box truck changing lanes to the left",
-        "bicycle crossing vehicle path at intersection"
+        "city bus"
     ],
-    "e4279e3e-b7e1-3f43-aeef-2bfa2836dab6": [
-        "bus making right turn",
-        "car driving in bus lane",
-        "bus changing lanes",
-        "oncoming vehicle changing lanes",
-        "pedestrian facing toward the bus",
-        "making a left lane change while there is a vehicle to the right",
-        "pedestrian near bollard",
-        "bus in bus lane",
-        "ego vehicle near pedestrian crossing sign",
-        "multiple pedestrians crossing ahead"
+    "e2043284-6122-3cc9-a7e7-f091a16361b7": [
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle changing lanes while in bike lane",
+        "vehicle changing lanes through bike lane",
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle moving at crawling speed",
+        "ego vehicle passing official signaler",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle with a bicycle to its right"
     ],
-    "8f317f00-f8b4-325e-a5c7-e4045427a610": [
-        "bicyclist changing lanes to the right",
-        "motorcyclist",
-        "pedestrian on road not facing traffic",
+    "2ec904db-41aa-397c-a1e3-2e2ca0c8e8fb": [
+        "vehicle changing lanes while in bike lane",
+        "pedestrian on intersection not using a crosswalk",
         "vehicle passing near person in wheelchair",
         "pedestrians facing each other at close range, possibly conversing",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "motorcycle changing lanes to the left near multiple vehicles"
+        "vehicle changing lanes through bike lane",
+        "pedestrian approaching a parked vehicle",
+        "pedestrian near construction cone",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle accelerating while changing lanes",
+        "stationary construction barrel"
     ],
-    "490f13c4-4c1f-3e3b-8a9f-0f27c6906b4e": [
-        "pedestrian facing toward the bus",
+    "382cf8af-6c8d-3ed9-907b-12214d2c7cb0": [
+        "vehicle braking heavily",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle two vehicles ahead is at a stop sign",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "city bus",
+        "any vehicle in front of stop sign",
+        "vehicle at intersection facing another vehicle",
         "vehicle approaching pedestrians waiting at a crosswalk",
-        "pedestrian walking with dog on sidewalk",
-        "pedestrians over 30 meters away",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrian near construction cone",
-        "regular vehicle turning right",
-        "pedestrian crossing ahead of ego vehicle",
-        "dog running in the road"
+        "bus within 5 meters to either side of ego vehicle"
     ],
-    "ba737c78-2ef2-3643-a5b2-4804dfff9d93": [
-        "semi truck within 30 meters ahead of ego vehicle",
-        "car following closely behind bicyclist",
-        "truck without trailer",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
+    "1c7d3b85-6cec-373c-a4eb-5137d7cc6a7c": [
+        "motorcycle near construction cone",
+        "bicycle crossing vehicle path at intersection",
         "parked box trucks",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "ego vehicle merging between two regular vehicles",
-        "bicycle crossing vehicle path at intersection"
+        "pedestrian to the left of a truck",
+        "box truck braking in front of ego vehicle",
+        "ego vehicle near construction cone",
+        "bicycle traveling against traffic",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle turning left"
     ],
-    "555a7659-ffce-39df-ba06-d9fcb2f812f0": [
-        "pedestrian facing toward ego vehicle",
-        "vehicle making a right turn",
-        "vehicle at intersection facing another vehicle",
-        "regular vehicle turning right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+    "8c52d911-fe34-3424-9864-d3fdfac38064": [
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "group of people",
+        "pedestrian crossing between bollards",
+        "bicycle traveling alongside parked vehicles",
         "motorcycle in bike lane",
-        "stopped car",
-        "passenger vehicle turning right",
-        "motorcycle passing between parked vehicles",
-        "motorcycle or pedestrian within 5 meters to the right"
+        "bicycle and vehicle traveling in bike lane",
+        "bicyclist on intersection",
+        "moving bicycle directly to the left of the ego vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "motorcycle in the same lane as a box truck"
     ],
-    "982bcae9-1840-37f4-9278-3dbb63031aac": [
-        "motorcycle between two vehicles",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "motorcyclist",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle being overtaken on the left",
-        "vehicle changing lanes to the right",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "multiple pedestrians crossing ahead"
+    "de586ff4-3413-367d-befc-ad022b73592b": [
+        "pedestrian walking with stroller",
+        "vehicle passing school bus at stop",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "stroller with bollards on both sides",
+        "vehicles being passed by a motorcycle on either side",
+        "regular vehicle turning right",
+        "motorcycle near construction cone",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "stop sign behind a pedestrian",
+        "vehicle turning while pedestrian crosses with stroller"
     ],
-    "812a45e8-b5d9-389b-9151-09c57ce969df": [
-        "group of people",
+    "6dadba1d-0f67-345b-bc5e-407ab8f7654c": [
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being passed on the left by another vehicle",
+        "ego vehicle passing official signaler",
+        "pedestrian crossing in front of cyclist near intersection",
+        "box truck braking in front of ego vehicle",
         "vehicle being overtaken on the right",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "pedestrian between moving vehicles on both sides",
+        "vehicle getting passed from the right",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle crossing path of another vehicle"
+    ],
+    "6ee06433-4820-3211-999a-95b79b2c692e": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle two cars ahead is braking",
+        "vehicle getting passed from the right",
+        "lane splitting motorcycle",
+        "school bus at pedestrian crossing",
+        "vehicle near multiple bollards",
+        "vehicle traveling over 20 meters per second",
+        "vehicle within 5 meters of a bicycle",
+        "pedestrians facing each other at close range, possibly conversing"
+    ],
+    "7f7e4709-7596-35f9-89ac-d808178b1533": [
+        "vehicle turning right near construction zone",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle with multiple bicycles ahead",
+        "vehicle turning right at stop sign",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "car following closely behind bicyclist",
+        "bicycle behind a bus",
+        "bicycle near traffic cone",
         "vehicles being passed by a motorcycle on either side",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two vehicles ahead is changing lanes",
-        "motorcyclist",
-        "vehicle changing lanes through bike lane",
-        "pedestrian on road not facing traffic"
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
     ],
-    "fd5c6932-2ee2-3cfb-9bdc-0b30bfb33a91": [
-        "vehicle being passed on the left by another vehicle",
-        "oncoming vehicle changing lanes",
-        "two cars back from the ego vehicle",
-        "vehicle changing lanes to the right",
-        "vehicle braking heavily",
-        "vehicle changing lanes",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle changing lanes while on an intersection",
-        "pedestrian crossing between stopped buses",
-        "pedestrian near bollard"
+    "9946b521-ea55-3c52-9fd1-71afc3abf3c6": [
+        "vehicle stopped at construction barrel",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "passenger vehicle turning left at intersection",
+        "objects getting closer to the ego vehicle",
+        "vehicle turning left while bicycle crosses from right",
+        "pedestrian facing toward ego vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "truck in the same lane as a bus",
+        "pedestrians over 30 meters away",
+        "pedestrian walking past right side of vehicle"
     ],
-    "5c1db299-e2a2-35e5-84dd-acda8fb393bc": [
-        "vehicle facing and heading toward pedestrian group",
-        "bicyclist changing lanes to the right",
-        "pedestrian crossing in front of cyclist near intersection",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle with multiple construction cones on the left side",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "bicycle traveling against traffic",
-        "bus changing lanes",
-        "group of at least 3 moving bicyclists within 5 meters of each other"
+    "5f5a25ff-ea07-3133-b5c6-26fada93f90f": [
+        "dog near an intersection",
+        "vehicle turning right with pedestrian in front",
+        "vehicle changing lanes through bike lane",
+        "dog near pedestrian",
+        "vehicle with animal in front",
+        "pedestrian walking with dog on sidewalk",
+        "accelerating vehicle changing lanes to the right",
+        "box truck changing lanes to the right",
+        "vehicle with multiple bicycles ahead",
+        "vehicle changing lanes while in bike lane"
     ],
-    "422dd53b-6010-4eb9-8902-de3d134c5a70": [
-        "ego vehicle near articulated bus",
-        "regular vehicle turning right",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "pedestrian near construction cone",
-        "group of pedestrians ahead of the ego vehicle",
-        "group of three people",
-        "pedestrian walking alongside stopped bus",
-        "group of people",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle making a right turn"
+    "32edd7c7-8a8f-360d-bcda-83ecf431e3e6": [
+        "the vehicle two cars in front of the ego vehicle",
+        "lane splitting motorcycle",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "motorcycle near construction cone",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "motorcycle in the same lane as a box truck",
+        "moving wheelchair within 5 meters of an intersection",
+        "stopped car",
+        "vehicle changing lanes near message board trailer",
+        "vehicle maneuvering between construction barriers"
     ],
-    "d58d55ea-f30c-3622-8303-1574616b9865": [
-        "bicyclist on intersection",
-        "bicycle traveling against traffic",
-        "bicycle traveling alongside parked vehicles",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "bicycle on intersection",
-        "bicycle traveling with vehicle traffic",
-        "bicycle passing by parked vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle being followed by ego vehicle while being overtaken on right"
+    "3cd2847c-604e-32b4-af19-6cd0da0dcdc5": [
+        "any vehicle in front of stop sign",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "group of people",
+        "pedestrian on intersection not using a crosswalk",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle turning left while bicycle crosses from right",
+        "pedestrians facing each other at close range, possibly conversing",
+        "a group of people"
     ],
-    "087fec73-1a0c-399a-9292-cc2cf99dc97f": [
-        "ego vehicle near construction cone",
-        "vehicle with multiple construction cones on the left side",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "oncoming vehicle changing lanes",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "making a left lane change while there is a vehicle to the right",
-        "jaywalking pedestrian",
-        "vehicle at a stop sign",
-        "vehicle changing lanes through bike lane"
+    "f5a3ee79-a131-3f8a-91e9-a6475d778149": [
+        "vehicle two cars ahead is changing lanes",
+        "car driving in bus lane",
+        "active vehicle at stop sign",
+        "pedestrian near bollard",
+        "pedestrian crossing between bollards",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "ego vehicle following vehicle being overtaken on right",
+        "bus changing lanes",
+        "unattended stroller",
+        "vehicle accelerating on intersection"
     ],
-    "3d7743c1-c0a5-3ab2-976e-84af93270f30": [
-        "vehicle stopped at a stop sign",
-        "box truck at stop sign",
-        "box trucks within 10 meters of an intersection",
+    "8940f5f1-13e0-3094-99ba-da2d17639774": [
+        "vehicle with animal in front",
+        "ego vehicle near stroller on sidewalk",
+        "bus with multiple pedestrians waiting on the right side",
         "ego vehicle near bollard",
-        "vehicle two vehicles ahead is at a stop sign",
-        "pedestrian crossing at bollard",
-        "car turning right",
-        "vehicle turning right at stop sign",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrians using designated crossing"
+        "bus with another bus in its lane",
+        "pedestrian near bollard",
+        "vehicle accelerating while changing lanes",
+        "pedestrian between moving vehicles on both sides",
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking alongside bollard"
     ],
-    "9807c577-0dc0-3116-864b-cf46a1276389": [
-        "truck cab with trailer sharing lane with regular vehicle",
+    "4690ea1e-224a-35e9-a984-8332295f2b00": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "box truck braking in front of ego vehicle",
+        "vehicle facing toward parked vehicles",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "motorcycle between stopped vehicles",
+        "bus with another bus in its lane",
         "multiple buses within 50 meters ahead",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "bus changing lanes",
-        "truck without trailer",
-        "vehicle approaching stopped vehicle at intersection",
-        "ego vehicle near construction barrel",
-        "truck changing lanes to the right",
-        "vehicle turning right at stop sign",
-        "box truck changing lanes ahead"
+        "oncoming vehicle changing lanes",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle behind another vehicle that has a pedestrian on its right side"
     ],
-    "d3efe9ba-f10a-35e7-b17e-6850c66693fe": [
-        "vehicle facing away from the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "regular vehicles that are stopped or nearly stopped",
+    "af170aac-8465-3d7b-82c5-64147e94af7d": [
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle changing lanes",
+        "vehicle being crossed by a pedestrian",
+        "ego vehicle changing lanes to the left",
         "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle facing the ego vehicle",
-        "vehicle moving at crawling speed",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle changing lanes while in bike lane",
-        "vehicle turning right with pedestrian waiting"
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "65d3f43d-1969-35d4-bf86-bd5e4b1ac803": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "a group of people",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle facing away from the ego vehicle",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "accelerating wheeled devices",
-        "vehicle two vehicles ahead is braking",
-        "bicycle in vehicle lane with vehicle",
-        "pedestrian walking alongside stopped bus"
+    "2583a8ee-867d-3db6-b039-35b913fb8f70": [
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "ego vehicle near articulated bus",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "ego vehicle merging between two regular vehicles",
+        "railed vehicle",
+        "car driving in bus lane",
+        "bicycle following closely behind a vehicle",
+        "truck sharing a lane with another truck",
+        "pedestrian walking past right side of vehicle"
     ],
-    "b9fcb487-363e-30a7-a316-a42dd81d8fe5": [
-        "stop sign behind a pedestrian",
-        "vehicle at a stop sign",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+    "a783b484-437b-3569-bd44-4f83ad9e05cf": [
+        "ego vehicle two cars ahead of another vehicle",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle changing lanes to the right",
+        "passenger vehicle turning right",
+        "pedestrian walking alongside bollard",
         "pedestrian near stop sign",
-        "object that hasn't moved",
-        "stationary construction barrel",
-        "pedestrian walking past right side of vehicle",
-        "lane splitting motorcycle",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
+        "vehicle near multiple bollards",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle hard braking with another vehicle ahead"
     ],
-    "c96a09c8-46ed-391f-8a66-c46fa8b76029": [
+    "5c7ee953-d8b0-33ef-a491-0bb716763cfe": [
+        "vehicle passing stopped truck with pedestrian nearby",
+        "bicycle near a bus",
+        "truck in the same lane as a bus",
+        "left lane change while there is a vehicle to the left",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "bus in bus lane",
+        "vehicle two cars ahead is braking",
+        "bus within 5 meters to either side of ego vehicle",
+        "bus changing lanes",
+        "vehicle maneuvering between construction barriers"
+    ],
+    "95acebfe-c694-3dab-9e6d-01cb501ff426": [
+        "truck sharing a lane with another truck",
         "active vehicle at stop sign",
-        "vehicle at intersection facing another vehicle",
-        "accelerating truck",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle two vehicles ahead is braking",
-        "vehicle accelerating while changing lanes",
+        "vehicle stopped at official signaler",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "any vehicle in front of stop sign",
+        "stop sign behind a pedestrian",
+        "vehicle turning left",
         "vehicle at a stop sign",
-        "vehicle facing away from the ego vehicle",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
-    ],
-    "23808d42-e4df-3a0d-b713-fe20e09a4f39": [
-        "bicyclist within 3 meters on either side",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "truck on intersection",
-        "bicyclist riding in vehicle lane",
-        "bicycle traveling against traffic",
-        "bicycle traveling with vehicle traffic",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle on intersection",
-        "accelerating wheeled devices",
-        "pedestrian turning and watching the ego vehicle"
+        "vehicle to the back right of the ego vehicle",
+        "vehicle stopped at a stop sign"
     ],
-    "3c27dfaf-1624-39d2-9075-158824ed8e8c": [
-        "vehicle accelerating while changing lanes",
-        "vehicle accelerating aggressively",
+    "66a40dcc-4de0-3f72-bff0-ca543ac5019d": [
+        "vehicle braking heavily",
+        "unattended dog",
+        "accelerating passenger vehicle",
+        "vehicle turning at intersection with nearby pedestrians",
+        "pedestrians over 30 meters away",
+        "pedestrian crossing ahead of ego vehicle",
         "box trucks within 10 meters of an intersection",
-        "car turning right",
-        "regular vehicle turning right",
-        "accelerating truck",
-        "vehicle accelerating towards pedestrian crossing",
-        "passenger vehicle turning left at intersection",
-        "stop sign behind a pedestrian",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "dog"
     ],
-    "75a9cbdf-0bec-39f9-b536-5b37aacadf96": [
-        "vehicle changing lanes while in bike lane",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicycle traveling against traffic",
-        "vehicle changing lanes through bike lane",
-        "lane splitting motorcycle",
-        "pedestrian crossing ahead of ego vehicle",
-        "motorcyclist braking hard",
-        "bicycle and vehicle traveling in bike lane",
-        "vehicle braking at pedestrian crossing",
-        "vehicle braking heavily"
+    "99a3270d-c5c5-3df7-9a2d-a612c8104d0e": [
+        "pedestrian with multiple dogs",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrians over 30 meters away",
+        "stroller in the same lane as a regular vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "pedestrians using designated crossing",
+        "pedestrian to the back-right of the ego vehicle",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "moving wheelchair within 5 meters of an intersection",
+        "pedestrian facing toward ego vehicle"
     ],
-    "8de6abb6-6589-3da7-8e21-6ecc80004a36": [
-        "active vehicle at stop sign",
-        "vehicle turning right at stop sign",
+    "52c9e613-61b3-3d17-9f6d-b28de8a14829": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "accelerating vehicle changing lanes to the right",
+        "motorcycle between two vehicles",
+        "vehicle turning right with pedestrian in front",
+        "pedestrian near stop sign",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "bicycle near traffic cone",
         "bus in bus lane",
-        "bicycle passing by parked vehicle",
+        "stationary construction barrel",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
+    ],
+    "dad3e145-2f70-357f-813e-703936927fe2": [
+        "pedestrian to the left of a truck",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle two cars ahead is changing lanes",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle facing toward parked vehicles",
+        "stopped car",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "pedestrian walking with dog on sidewalk",
+        "regular vehicles that are stopped or nearly stopped",
+        "ego vehicle near articulated bus"
+    ],
+    "c67a748c-1e93-3a6d-be38-daedf175f911": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicyclist riding in vehicle lane",
+        "bicycle traveling with vehicle traffic",
+        "car following closely behind bicyclist",
+        "truck sharing a lane with another truck",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
         "bicycle near traffic cone",
-        "vehicle two vehicles ahead is turning",
-        "car driving in bus lane",
-        "bicycle facing toward a vehicle",
-        "bicycle traveling against traffic",
-        "moving pedestrian within 3 meters to the left of ego vehicle"
+        "bicycle traveling alongside construction indicators",
+        "bicycle in same lane as a vehicle",
+        "bicycle in vehicle lane with vehicle"
     ],
-    "4487b659-692e-3b35-9d1e-a230279ed646": [
-        "vehicle sharing a lane with another vehicle",
-        "vehicle following another vehicle too closely",
-        "a group of people",
-        "vehicle changing lanes through bike lane",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle changing lanes while in bike lane",
+    "0c143226-9c39-387c-a935-1391bed6dc75": [
+        "construction item on road",
+        "city bus",
+        "bus making right turn",
+        "dog on roadway",
+        "bicycle in vehicle lane with vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "bicyclist within 3 meters on either side",
+        "bicycle crossing vehicle path at intersection",
+        "bicycle on intersection",
+        "ego vehicle near construction barrel"
+    ],
+    "fd4e2c4c-f7e9-3110-8e32-28d3add3937d": [
+        "passenger vehicle turning left at intersection",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "ego vehicle two cars ahead of another vehicle",
+        "regular vehicle turning right",
+        "any vehicle in front of stop sign",
+        "ego vehicle approaching stopped delivery truck",
+        "pedestrians over 30 meters away",
         "vehicle two vehicles ahead is changing lanes",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+        "vehicle within 5 meters of a bicycle",
+        "car turning right"
     ],
-    "890cf3b7-3385-390c-8b2e-132c744b5d2d": [
-        "vehicle in close proximity to bicycle",
+    "e331aa95-3660-3c71-be9e-030bab0b8ee2": [
+        "pedestrian crossing at bollard",
         "vehicle with multiple construction cones on the left side",
-        "pedestrian walking alongside bollard",
-        "vehicle being crossed by a pedestrian",
-        "vehicle with a bicycle to its right",
-        "stationary object",
-        "ego vehicle with parked bicycles ahead",
-        "pedestrian on intersection not using a crosswalk",
         "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "objects getting closer to the ego vehicle"
-    ],
-    "45433055-2b69-3cff-8135-67b3bfa04034": [
-        "vehicle facing and heading toward pedestrian group",
-        "car turning right",
-        "pedestrian facing toward the bus",
+        "the active vehicle in front of the vehicle ahead",
         "passenger vehicle turning right",
-        "passenger vehicle turning left at intersection",
-        "jaywalking pedestrian",
-        "stop sign behind a pedestrian",
-        "regular vehicle turning right",
-        "ego vehicle near construction cone",
-        "pedestrians facing each other at close range, possibly conversing"
-    ],
-    "828ddef2-7609-3683-8e32-c21e7c07d6a6": [
-        "ego vehicle approaching stopped delivery truck",
-        "car following closely behind bicyclist",
-        "motorcycle between stopped vehicles",
         "vehicles being passed by a motorcycle on either side",
-        "pedestrian near bollard",
-        "motorcycle between two vehicles",
-        "pedestrian to the left of a truck",
-        "vehicle turning right near construction zone",
-        "vehicle two vehicles ahead is at a stop sign",
-        "multiple motorcycles ahead of the ego vehicle"
+        "vehicle passing stopped truck with pedestrian nearby",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle approaching stopped truck",
+        "truck on intersection"
     ],
-    "4e391f98-31a6-330d-9252-d02aab82f5db": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle facing and heading toward pedestrian group",
-        "objects getting closer to the ego vehicle",
-        "pedestrian walking past right side of vehicle",
-        "vehicle making a right turn",
-        "vehicle being tailgated while approaching stopped traffic",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "regular vehicle turning right",
-        "vehicle two vehicles ahead is at a stop sign",
-        "box truck braking in front of ego vehicle"
+    "b436606f-daa4-337f-8103-4360bf4704d9": [
+        "accelerating truck",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle passing school bus at stop",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle two cars ahead is braking",
+        "bus changing lanes",
+        "vehicle braking heavily",
+        "bicycle on intersection",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bus within 5 meters to either side of ego vehicle"
     ],
-    "14c8d182-9586-3f21-ad20-c4e19ec03e2c": [
-        "vehicle braking near pedestrian crossing",
-        "vehicle stopped at construction barrel",
-        "vehicle navigating near multiple bicycles",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle near construction barrel",
-        "vehicle braking at pedestrian crossing",
-        "ego vehicle changing lanes to the left",
-        "pedestrian on road not facing traffic",
-        "truck changing lanes to the right",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+    "429dedd9-2d51-385d-9661-b15f4027e34d": [
+        "vehicle near message board trailer",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "pedestrian to the left of a truck",
+        "bus in the same lane as a truck",
+        "pedestrian approaching a parked vehicle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "any vehicle in front of stop sign",
+        "motorcycle near stop sign",
+        "pedestrian with multiple dogs",
+        "vehicle facing and heading toward pedestrian group"
     ],
-    "f3f8f680-e471-3662-a06a-0c00e6d88f43": [
-        "vehicle being overtaken on the right",
-        "vehicle accelerating more than two meters per second",
-        "pedestrian crossing in front of vehicle at crosswalk",
+    "79cb0109-4c92-3ede-8849-76cc6824b95a": [
+        "bicycle facing toward moving traffic",
         "pedestrian crossing between bollards",
-        "vehicle being passed on the left by another vehicle",
-        "bus making right turn",
-        "pedestrian crossing at bollard",
-        "ego vehicle near bollard",
-        "ego vehicle merging between two regular vehicles",
-        "pedestrian walking between two stopped vehicles"
+        "vehicles being passed by a motorcycle on either side",
+        "car following closely behind bicyclist",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "motorcycle passing between parked vehicles",
+        "bicycle crossing vehicle path at intersection",
+        "bicycle in vehicle lane with vehicle",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bicycle sharing lane as a regular vehicle"
     ],
-    "a7bcdabb-f9b7-3c16-806d-3ddf1c2d49a2": [
-        "accelerating vehicle changing lanes to the right",
-        "bicycle facing toward a vehicle",
-        "bicycle facing toward moving traffic",
-        "vehicle navigating near multiple bicycles",
-        "vehicle being overtaken on the left",
+    "e7547e4c-1ebc-3428-8964-a5b91e81098e": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "accelerating passenger vehicle",
+        "objects getting closer to the ego vehicle",
+        "vehicle turning left",
+        "vehicle getting passed from the right",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
         "bicycle following closely behind a vehicle",
-        "vehicle in close proximity to bicycle",
-        "vehicles being passed by a motorcycle on either side",
-        "ego vehicle changing lanes near bicycle while approaching stop sign",
-        "car turning right"
+        "moving wheelchair within 5 meters of an intersection",
+        "vehicle moving at crawling speed",
+        "vehicle sharing a lane with another vehicle"
     ],
-    "8184872e-4203-3ff1-b716-af5fad9233ec": [
-        "vehicle passing stopped truck with pedestrian nearby",
-        "ego vehicle merging between two regular vehicles",
-        "bus making right turn",
-        "vehicle turning left while pedestrian crosses at crosswalk",
+    "b0663029-8f8d-398a-8a28-81ba29224696": [
+        "stroller",
+        "railed vehicle",
+        "bus changing lanes",
         "box truck braking in front of ego vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle approaching stopped truck",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "box truck changing lanes ahead"
-    ],
-    "41d69427-364c-366e-94a5-8e556bcac39f": [
-        "vehicle crossing path of another vehicle",
-        "vehicle changing lanes",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning right with pedestrian in front",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle making a right turn",
-        "jaywalking pedestrian",
-        "passenger vehicle turning right",
-        "dog near an intersection",
-        "ego vehicle merging between two regular vehicles"
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "regular vehicle turning right",
+        "vehicle turning right next to pedestrian with stroller",
+        "unattended dog"
     ],
-    "0ab21841-0c08-3bae-8424-daa9b336683f": [
-        "ego vehicle approaching crossing pedestrians",
-        "bicycle on intersection",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "stroller in the same lane as a regular vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian walking with stroller",
-        "passenger vehicle near stroller in road",
-        "active vehicle at stop sign",
-        "ego vehicle following bicycle closely"
+    "74ec2f62-9d57-39a9-bf88-97006f64ee5c": [
+        "vehicle accelerating on intersection",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "truck without trailer",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "moving bicycle directly to the left of the ego vehicle",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle turning right near construction zone",
+        "vehicle approaching stopped vehicle at intersection",
+        "ego vehicle near bollard"
     ],
-    "c453a8e7-d3da-317a-946b-f8e9678a8582": [
-        "bicycle in same lane as a vehicle",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "pedestrian crossing at bollard",
-        "dog on roadway",
-        "bicycle near traffic cone",
-        "bicycle passing by parked vehicle",
-        "dog crossing in front of vehicle",
-        "ego vehicle approaching intersection with crossing dog",
-        "vehicle being tailgated while approaching stopped traffic",
-        "moving bus being crossed by a bicycle"
+    "b5f3900c-b421-3032-aef2-2e91a69d1163": [
+        "bicyclist on intersection",
+        "car following closely behind bicyclist",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle crossing vehicle path at intersection",
+        "bicycle traveling with vehicle traffic",
+        "bicycle traveling against traffic",
+        "ego vehicle near construction barrel",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "pedestrian crossing in front of cyclist near intersection",
+        "box truck braking in front of ego vehicle"
     ],
-    "0b1b993a-68b3-3232-9afa-fc9942b5b79b": [
-        "dog",
-        "semi truck within 30 meters ahead of ego vehicle",
+    "b6c86134-d7e6-3af6-9db5-8aba3df4f7a7": [
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian walking with stroller",
+        "car driving in bus lane",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle accelerating on intersection",
         "vehicle traveling over 20 meters per second",
-        "dog near an intersection",
-        "ego vehicle with box truck ahead and motorcycle behind",
         "box trucks within 10 meters of an intersection",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "truck without trailer",
-        "motorcycle passing between parked vehicles",
-        "bicycle between two vehicles traveling in same direction"
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "truck in the same lane as a bus"
     ],
-    "67d5fb0a-baf8-32f4-9316-18ce755f3e8b": [
-        "bicycle near traffic cone",
-        "motorcycle between stopped vehicles",
-        "motorcycle near stop sign",
-        "motorcyclist braking hard",
-        "motorcycle at stop sign",
-        "vehicle surrounded by bicycles on all sides",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle passing by parked vehicle",
+    "29080565-8133-3274-80cf-6ea98078e50d": [
+        "regular vehicle turning right",
         "two cars back from the ego vehicle",
-        "pedestrian turning and watching the ego vehicle"
-    ],
-    "27fba275-0b37-3033-b20d-8f9848f78b1c": [
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle at a stop sign",
-        "passenger vehicle swerving left",
+        "truck on intersection",
+        "ego vehicle two cars ahead of another vehicle",
+        "pedestrian to the left of a truck",
+        "stopped car",
+        "car turning right",
+        "ego vehicle approaching stopped delivery truck",
         "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
+        "vehicle being overtaken on the right"
+    ],
+    "64b24fd1-f639-4f7e-a535-dbfe9fd737a1": [
+        "vehicle facing and heading toward pedestrian group",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian crossing at bollard",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle being crossed by a pedestrian",
         "group of people",
-        "pedestrian near construction cone",
-        "vehicle in close proximity to bicycle",
-        "moving bus being crossed by a bicycle"
+        "vehicle passing near person in wheelchair",
+        "ego vehicle approaching pedestrian at crosswalk"
     ],
-    "e28c16d0-084a-3dc4-aad4-9d157ca528de": [
+    "b66a9b8e-8fa8-3409-907f-a70ebd7051e1": [
+        "box truck near at least 3 construction cones",
+        "pedestrian crossing between bollards",
+        "bicycle behind a bus",
         "motorcycle near construction cone",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle crossing vehicle path at intersection",
+        "vehicle changing lanes near group of cyclists",
+        "pedestrian crossing at bollard",
         "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle maneuvering between construction barriers",
-        "city bus",
-        "bicycle following closely behind a vehicle",
-        "ego vehicle near articulated bus",
-        "ego vehicle approaching bicycle merging from bike lane",
-        "regular vehicle turning right"
+        "motorcycle between two vehicles",
+        "vehicle turning left while bicycle crosses from right",
+        "bicycle traveling alongside construction indicators"
     ],
-    "8ee606e6-4cbd-3c07-8419-fbda836ccaac": [
-        "dog",
-        "bicyclist riding in vehicle lane",
-        "bicyclist on intersection",
-        "dog near an intersection",
-        "bicycle sharing lane as a regular vehicle",
-        "pedestrian near stop sign",
-        "ego vehicle with vehicles on both sides",
-        "dog near pedestrian",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
-        "ego vehicle merging between two regular vehicles"
+    "389069d7-e6db-3d22-9328-e228c002bf75": [
+        "stroller",
+        "bicycle traveling against traffic",
+        "vehicle accelerating while changing lanes",
+        "pedestrian facing toward the bus",
+        "pedestrian walking with stroller",
+        "bicycle near a bus",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle approaching intersection with crossing dog",
+        "pedestrian walking alongside stopped bus",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "adc1fad7-de31-371f-810b-140576d9accc": [
-        "vehicle stopped at a stop sign",
-        "dog near pedestrian",
-        "vehicle accelerating aggressively",
-        "motorcycle between stopped vehicles",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "dog",
-        "vehicle accelerating towards pedestrian crossing",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "motorcyclist",
-        "multiple motorcycles ahead of the ego vehicle"
+    "f4c6ade0-7b9e-4ad7-8d86-13d2f4c91499": [
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle changing lanes",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "bus in the same lane as a truck",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle braking near pedestrian crossing",
+        "vehicle braking at pedestrian crossing",
+        "left lane change while there is a vehicle to the left"
     ],
-    "7ad46cf0-aa12-4050-ac2d-cf34b5f64d41": [
-        "accelerating passenger vehicle",
-        "bus with another bus in its lane",
-        "ego vehicle approaching stopped delivery truck",
-        "city bus",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian facing toward ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "multiple buses within 50 meters ahead",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle braking near pedestrian crossing"
+    "73d86f1c-5e5c-3842-b671-7f29c78ccc55": [
+        "vehicle turning right with pedestrian waiting",
+        "stationary construction barrel",
+        "vehicle crossing path of another vehicle",
+        "ego vehicle near construction barrel",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bicycle following closely behind a vehicle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "jaywalking pedestrian",
+        "unattended dog",
+        "ego vehicle in dense traffic with lane-changing vehicles"
     ],
-    "8e5022ed-87a9-4480-b2a7-a7c0494f5c7b": [
-        "vehicle to the back right of the ego vehicle",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle facing away from the ego vehicle",
-        "vehicle near multiple bollards",
-        "object that hasn't moved",
-        "vehicle facing the ego vehicle",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
+    "76c3f58f-9003-3bdb-90a3-b87cfbfa1c3b": [
+        "vehicle being overtaken on the right",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle near construction barrel",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle turning right at stop sign",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "wheelchair user at pedestrian crossing",
+        "stationary construction barrel",
+        "motorcycle changing lanes to the left near multiple vehicles"
     ],
-    "16af3863-0d31-3cd1-8fa2-58053ffb953a": [
-        "vehicle accelerating on intersection",
-        "pedestrian to the left of a truck",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle braking at pedestrian crossing",
-        "box truck braking in front of ego vehicle",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "truck without trailer",
-        "vehicle braking near pedestrian crossing",
-        "multiple pedestrians crossing ahead",
-        "pedestrian near bollard"
+    "95a47a36-1041-3924-bbd0-4dcad52c323a": [
+        "accelerating vehicle changing lanes to the right",
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian near stop sign",
+        "motorcycle near construction cone",
+        "pedestrian walking alongside bollard",
+        "lane splitting motorcycle",
+        "school bus on intersection",
+        "bicycle sharing lane as a regular vehicle",
+        "pedestrian near bollard",
+        "vehicle accelerating on intersection"
     ],
-    "723147da-6beb-34cc-b1d7-2d4d3abc4d33": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian walking alongside stopped bus",
-        "multiple buses within 50 meters ahead",
+    "d72c43a5-95bf-3a3e-9019-cf25cc0a61c0": [
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle being passed on the left by another vehicle",
         "moving bus to the front-left of the ego vehicle",
-        "vehicle braking at pedestrian crossing",
-        "vehicle braking near pedestrian crossing",
-        "a group of people",
-        "bus with another bus in its lane",
-        "pedestrian on road not facing traffic",
-        "passenger vehicle turning left at intersection"
-    ],
-    "8bc34c99-1b8f-3463-b0e7-12bf1eb222b3": [
+        "railed vehicle",
+        "vehicle at intersection facing another vehicle",
+        "ego vehicle following vehicle being overtaken on right",
         "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle being overtaken on the right",
+        "two cars back from the ego vehicle",
+        "vehicle crossing path of another vehicle"
+    ],
+    "098fe60e-bab0-32e2-89bc-bedced881911": [
+        "motorcycle or pedestrian within 5 meters to the right",
+        "objects getting closer to the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "bicycle and vehicle traveling in bike lane",
+        "bicycle traveling alongside construction indicators",
+        "pedestrian facing toward ego vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "moving bicycle directly to the left of the ego vehicle",
         "parked box trucks",
-        "vehicle changing lanes while on an intersection",
-        "the vehicle two cars behind the ego vehicle",
-        "accelerating truck",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle changing lanes through bike lane",
-        "vehicle two vehicles ahead is braking"
+        "vehicle turning left with a bicycle in front of it"
     ],
-    "4d7b84b9-0a03-3aa1-83f0-4766013c3fb1": [
-        "car driving in bus lane",
-        "pedestrian to the left of a truck",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle at intersection facing another vehicle",
-        "motorcycle between two vehicles",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle facing and heading toward pedestrian group",
-        "motorcycle between stopped vehicles",
-        "vehicle sharing a lane with another vehicle",
-        "bicycle traveling with vehicle traffic"
+    "d0ba7a1b-f5ca-39d6-98d0-29c671baec65": [
+        "the vehicle two cars behind the ego vehicle",
+        "passenger vehicle near stroller in road",
+        "vehicle approaching stopped vehicle at intersection",
+        "motorcycle passing between parked vehicles",
+        "truck on intersection",
+        "vehicle braking at pedestrian crossing",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "pedestrian walking with stroller",
+        "pedestrian facing toward the bus"
     ],
-    "b275d09d-9da2-380b-a748-528ee28bc9af": [
-        "vehicle getting passed from the right",
-        "vehicle two vehicles ahead is braking",
-        "vehicle stopped at construction barrel",
-        "vehicle near construction barrel",
+    "fdb0578d-4fa7-37a7-b60d-5472b4d39136": [
+        "ego vehicle approaching construction zone with traffic controller",
+        "oncoming vehicle changing lanes",
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle near multiple bollards",
+        "pedestrian walking with dog on sidewalk",
+        "ego vehicle changing lanes near construction zone",
         "ego vehicle merging between two regular vehicles",
-        "vehicle hard braking with another vehicle ahead",
-        "pedestrian on road not facing traffic",
-        "ego vehicle near bollard"
+        "ego vehicle near construction barrel",
+        "vehicle stopped at construction barrel",
+        "pedestrian to the left of a truck",
+        "vehicle two vehicles ahead is changing lanes"
     ],
-    "108d2060-8bef-3d1c-88c5-c8295f596595": [
-        "vehicle accelerating more than two meters per second",
-        "box trucks within 10 meters of an intersection",
-        "box truck near at least 3 construction cones",
-        "box truck braking in front of ego vehicle",
+    "bec0f69b-832c-3898-b589-0127ddc282f3": [
+        "the active vehicle in front of the vehicle ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle stopped at official signaler",
+        "pedestrian near stop sign",
+        "traffic officer in roadway",
+        "pedestrian crossing at bollard",
+        "vehicle passing near person in wheelchair",
         "parked box trucks",
-        "box truck in bike lane",
-        "ego vehicle near construction cone",
-        "ego vehicle with vehicles on both sides",
-        "truck sharing a lane with another truck",
-        "vehicle stopped at a stop sign"
+        "vehicle facing and accelerating toward pedestrian on road",
+        "stop sign behind a pedestrian"
     ],
-    "0d8aab9f-4edf-3fb3-895a-ba64e8f2cfb2": [
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian facing toward the bus",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "pedestrian near bollard",
-        "truck on intersection",
-        "pedestrian crossing between bollards",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle turning right at stop sign"
+    "453e5558-6363-38e3-bf9b-42b5ba0a6f1d": [
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle following another vehicle too closely",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "any vehicle in front of stop sign",
+        "box truck with multiple construction cones to its right",
+        "vehicle facing and heading toward pedestrian group",
+        "ego vehicle approaching stopped truck",
+        "construction item on road",
+        "vehicle making a right turn",
+        "box truck near at least 3 construction cones"
     ],
-    "d0cc23f4-f4ab-3755-8e63-2e3940f68d89": [
-        "vehicle being crossed by a pedestrian",
-        "dog on roadway",
-        "stopped car",
-        "dog near pedestrian",
+    "ab83611b-436e-3de7-aad1-f0c9ad254196": [
+        "motorcycle near construction cone",
+        "the vehicle two cars behind the ego vehicle",
         "vehicle stopped at a stop sign",
-        "vehicle at a stop sign",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle braking heavily",
-        "lane splitting motorcycle",
-        "vehicle turning right with pedestrian in front"
+        "ego vehicle changing lanes near construction zone",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "pedestrian walking with stroller",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle at a stop sign"
     ],
-    "0b97f5dd-c396-3c02-b07d-b7fdbcb6c3d0": [
-        "vehicle accelerating on intersection",
-        "pedestrian facing toward ego vehicle",
-        "ego vehicle near construction cone",
-        "vehicle near construction barrel",
-        "ego vehicle following vehicle being overtaken on right",
-        "ego vehicle two cars ahead of another vehicle",
+    "5d391e54-adec-3584-adf0-5025d7564e1b": [
+        "ego vehicle changing lanes to the left",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "motorcycle between two vehicles",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian to the left of a truck",
+        "objects getting closer to the ego vehicle",
+        "oncoming vehicle changing lanes",
+        "left lane change while there is a vehicle to the left",
+        "active vehicle at stop sign",
+        "vehicle stopped at construction barrel"
+    ],
+    "e123ba3f-99bd-3039-b6e7-8c62eaebf9c2": [
         "ego vehicle near construction barrel",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "regular vehicle turning right"
+        "bicycle near traffic cone",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle with a bicycle to its right",
+        "box truck braking in front of ego vehicle",
+        "box truck changing lanes to the right",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle two vehicles ahead is turning"
     ],
-    "ccb4e29d-e88f-3fbe-8958-67cfd62350a3": [
-        "pedestrians using designated crossing",
-        "vehicle being overtaken on the right",
-        "pedestrians facing each other at close range, possibly conversing",
-        "the vehicle two cars behind the ego vehicle",
-        "stopped car",
-        "stationary object",
-        "vehicle being crossed by a pedestrian",
-        "vehicle changing lanes to the right",
+    "8c019de9-7043-37bc-9498-b5858e7240af": [
+        "accelerating vehicle changing lanes to the right",
+        "vehicle turning left",
+        "ego vehicle near construction barrel",
+        "vehicle two vehicles ahead is turning",
         "bicycle passing by parked vehicle",
-        "vehicle changing lanes through bike lane"
+        "box trucks within 10 meters of an intersection",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle changing lanes to the right",
+        "vehicle getting passed from the right",
+        "bicycle in same lane as a vehicle"
     ],
-    "13209193-55c7-3827-917e-e04460b8f49b": [
-        "vehicle two vehicles ahead is changing lanes",
-        "turning left",
-        "vehicle accelerating while changing lanes",
-        "vehicle accelerating more than two meters per second",
-        "the active vehicle in front of the vehicle ahead",
-        "stop sign behind a pedestrian",
+    "f54c1d50-48a3-4651-bfb0-50b87f13dc9e": [
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle changing lanes near construction zone",
+        "bus making right turn",
+        "stroller",
         "ego vehicle near construction barrel",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
+        "pedestrian to the left of a truck",
+        "vehicle near message board trailer",
+        "ego vehicle approaching stopped truck",
+        "construction barrel with at least 2 construction cones within 3 meters"
     ],
-    "f4cb6ba4-cd0f-30cc-9cc9-52bd14bfb3cc": [
-        "motorcycle near construction cone",
-        "bicycle and vehicle traveling in bike lane",
-        "ego vehicle approaching cyclist in same lane",
+    "b5ea60b0-2540-4efe-b60e-f421ade3c128": [
+        "ego vehicle approaching stopped delivery truck",
+        "ego vehicle changing lanes near construction zone",
+        "school bus at pedestrian crossing",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle near construction barrel",
+        "vehicle stopped at construction barrel",
+        "dog near pedestrian",
+        "construction item on road",
         "bicycle near traffic cone",
-        "dog",
-        "bicycle facing toward moving traffic",
-        "motorcyclist",
-        "bicyclist within 3 meters on either side",
-        "vehicle facing toward parked vehicles",
-        "car following closely behind bicyclist"
+        "vehicle turning right near construction zone"
     ],
-    "9239d493-31d7-3dd0-a05f-03d50a242392": [
-        "vehicle changing lanes to the right",
+    "91923e20-9a05-32e0-ac53-8c09b0b60341": [
         "vehicle approaching stopped vehicle at intersection",
-        "ego vehicle with vehicles on both sides",
-        "truck without trailer",
-        "vehicle two vehicles ahead is turning",
-        "vehicle near construction barrel",
-        "vehicle changing lanes while on an intersection",
-        "vehicle near multiple bollards",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle facing and heading toward pedestrian group"
+        "vehicle with multiple construction cones on the left side",
+        "bicycle behind a bus",
+        "bicycle near a bus",
+        "bicycle and vehicle traveling in bike lane",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "bicycle traveling alongside construction indicators",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle maneuvering between construction barriers"
     ],
-    "ff52c01e-3d7b-32b1-b6a1-bcff3459ccdd": [
-        "bus making right turn",
-        "vehicle accelerating more than two meters per second",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "bicycle in same lane as a vehicle",
+    "bb110668-5037-3c04-bd34-34cf1ace8d0f": [
         "bicycle facing toward a vehicle",
-        "bicycle traveling with vehicle traffic",
-        "bicycle between two vehicles traveling in same direction",
-        "bicycle facing toward moving traffic"
+        "city bus",
+        "vehicle making a right turn",
+        "school bus on intersection",
+        "bicycle on intersection",
+        "bicyclist on intersection",
+        "box truck changing lanes to the right",
+        "stop sign behind a pedestrian",
+        "vehicle traveling over 20 meters per second",
+        "truck on intersection"
     ],
-    "e7e178aa-931a-4674-9bff-9278a54e6aae": [
-        "vehicle navigating near multiple bicycles",
-        "pedestrian near construction cone",
-        "pedestrian crossing at bollard",
-        "pedestrian to the back-right of the ego vehicle",
-        "turning left",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcyclist braking hard",
-        "pedestrians over 30 meters away",
-        "bicycle following closely behind a vehicle",
-        "ego vehicle merging between two regular vehicles"
+    "40870b19-3356-3e8e-a4a4-9f34eef8ea30": [
+        "box truck changing lanes ahead",
+        "vehicle changing lanes through bike lane",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "box truck with multiple construction cones to its right",
+        "ego vehicle merging between two regular vehicles",
+        "box truck changing lanes to the left",
+        "box truck near at least 3 construction cones",
+        "vehicle passing school bus at stop",
+        "accelerating truck",
+        "box truck changing lanes to the right"
     ],
-    "ac1b1697-42b9-4225-a666-d17f72204fa8": [
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle passing truck with pedestrian crossing ahead",
+    "c94991c0-3662-3936-972c-1af63db486d8": [
         "ego vehicle following vehicle being overtaken on right",
-        "accelerating truck",
-        "box truck changing lanes to the left",
-        "vehicle braking near pedestrian crossing",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle braking at pedestrian crossing",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle approaching stopped truck"
+        "dog near pedestrian",
+        "vehicle making a right turn",
+        "vehicle being overtaken while approaching another vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle two cars ahead is braking",
+        "accelerating vehicle changing lanes to the right",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle turning right with pedestrian in front"
     ],
-    "ce5033ee-e74e-354a-9299-8aaefbd03f59": [
-        "vehicle moving at crawling speed",
+    "991d11df-0265-3e41-b942-5b0c615d21e2": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "bicycle facing toward a vehicle",
+        "vehicle braking at pedestrian crossing",
+        "vehicle in close proximity to bicycle",
+        "stopped car",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle braking near pedestrian crossing",
+        "regular vehicles that are stopped or nearly stopped",
         "vehicle being overtaken on the left",
-        "active vehicle at stop sign",
-        "any vehicle in front of stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle following another vehicle too closely",
-        "vehicle facing toward parked vehicles",
-        "vehicle being passed on the left by another vehicle",
-        "ego vehicle merging between two regular vehicles",
-        "vehicle turning right at stop sign"
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "a3e09a66-a921-3c4a-89e6-7fecf6854a3a": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "stationary object",
+    "fb0c5970-dbf7-4c77-b3b6-2c8cc41b9d6f": [
+        "truck in the same lane as a bus",
+        "vehicle turning right with pedestrian in front",
+        "person",
+        "bicycle facing toward a vehicle",
+        "vehicle at intersection facing another vehicle",
+        "stationary construction barrel",
+        "ego vehicle two cars ahead of another vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "passenger vehicle turning right",
+        "vehicles being passed by a motorcycle on either side"
+    ],
+    "7ca43466-7107-33ae-95d6-26d7af132e87": [
+        "vehicle navigating near multiple bicycles",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle passing near person in wheelchair",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle being crossed by a pedestrian",
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian turning and watching the ego vehicle",
+        "group of three people",
+        "vehicle accelerating on intersection"
+    ],
+    "f648b945-6c70-3105-bd23-9502894e37d4": [
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle braking heavily",
+        "vehicle hard braking with another vehicle ahead",
+        "dog on roadway",
+        "vehicle changing lanes while on an intersection",
+        "vehicle turning right with pedestrian in front",
+        "vehicle changing lanes",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "bus changing lanes"
+    ],
+    "c85ebc24-0934-3423-9c14-f0fdbee64b68": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle at intersection facing another vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "car turning right",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "two cars back from the ego vehicle",
+        "pedestrian walking past right side of vehicle"
+    ],
+    "63a006b5-07c8-375d-98e3-21466f5b9c6a": [
+        "dog",
+        "ego vehicle near construction cone",
+        "motorcycle in bike lane",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "multiple pedestrians crossing ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
         "dog near pedestrian",
-        "vehicle facing the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle to the back right of the ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "vehicle facing away from the ego vehicle",
-        "vehicle traveling over 20 meters per second",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian walking with dog on sidewalk",
+        "pedestrian crossing ahead of ego vehicle"
     ],
-    "fa9ec72a-cbcf-35dc-be20-4d0d9e7215ef": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle at intersection facing another vehicle",
+    "71d1938d-536e-39eb-beb4-bb4f5b607427": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "motorcyclist braking hard",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "bicycle passing by parked vehicle",
+        "vehicle accelerating more than two meters per second",
         "vehicle changing lanes to the right",
-        "vehicle changing lanes",
-        "vehicle near multiple bollards",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle two cars ahead is braking",
-        "vehicle hard braking with another vehicle ahead",
-        "accelerating vehicle changing lanes to the right",
-        "passenger vehicle swerving left"
+        "jaywalking pedestrian"
     ],
-    "89f79c55-6698-3037-bd2e-d40c81af169a": [
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle with multiple bicycles ahead",
-        "group of three people",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle navigating near multiple bicycles",
-        "group of people",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle braking near pedestrian crossing",
-        "bus making right turn"
+    "a50b198c-4de2-3f8c-a2b9-ab280605b350": [
+        "bus changing lanes",
+        "vehicle changing lanes through bike lane",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle changing lanes while in bike lane",
+        "bus with multiple pedestrians waiting on the right side",
+        "a group of people",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
     ],
-    "b43d449e-daaf-33a1-bb7f-3f7a0b5f056c": [
-        "unattended dog",
-        "accelerating wheeled devices",
+    "12c3c14b-9cf2-3434-9a5d-e0bfa332f6ce": [
+        "left lane change while there is a vehicle to the left",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "pedestrian turning and watching the ego vehicle",
+        "school bus on intersection",
+        "school bus at pedestrian crossing",
+        "truck on intersection",
         "pedestrian walking with dog on sidewalk",
-        "vehicle two vehicles ahead is changing lanes",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
         "dog near pedestrian",
-        "pedestrian with multiple dogs",
-        "dog",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "ego vehicle approaching crossing pedestrians"
+        "vehicle with animal in front"
     ],
-    "3a1b3424-700b-3b65-9e89-90772a8e24ea": [
-        "pedestrian between moving vehicles on both sides",
-        "any vehicle in front of stop sign",
-        "ego vehicle approaching pedestrian at crosswalk",
+    "db447b86-8103-3ee4-93de-2c838ba061dc": [
+        "ego vehicle approaching stopped truck",
+        "vehicle hard braking with another vehicle ahead",
+        "box truck in bike lane",
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle facing and heading toward pedestrian group",
+        "city bus",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle at a stop sign",
+        "pedestrian to the left of a truck"
+    ],
+    "7d3f2f76-2f4f-3762-bf0f-f94f79eb0404": [
+        "motorcycle near construction cone",
+        "multiple buses within 50 meters ahead",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "bicycle traveling with vehicle traffic",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle turning right near construction zone",
+        "vehicle navigating near multiple bicycles",
+        "truck cab with trailer sharing lane with regular vehicle"
+    ],
+    "08734a1b-0289-3aa3-a6ba-8c7121521e26": [
+        "pedestrian facing toward ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "bicycle facing toward a vehicle",
+        "motorcyclist",
+        "bicycle following closely behind a vehicle",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "motorcycle between stopped vehicles",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle turning right with pedestrian waiting",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    ],
+    "35a15c5c-fa4a-3838-a724-396e112ec95c": [
+        "vehicle with a bicycle to its right",
+        "pedestrian turning and watching the ego vehicle",
+        "parked box trucks",
+        "box truck braking in front of ego vehicle",
+        "group of pedestrians ahead of the ego vehicle",
+        "left lane change while there is a vehicle to the left",
+        "truck without trailer",
         "active vehicle at stop sign",
-        "pedestrian facing toward the bus",
-        "vehicle with multiple pedestrians to the left",
-        "a group of people",
+        "bicycle sharing lane as a regular vehicle",
+        "ego vehicle approaching stopped delivery truck"
+    ],
+    "49a9df80-ab0a-31fb-9341-a79f7b0258dd": [
         "box truck near at least 3 construction cones",
-        "motorcycle in the same lane as a box truck"
+        "bicycle crossing vehicle path at intersection",
+        "vehicle changing lanes near group of cyclists",
+        "truck sharing a lane with another truck",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle turning left with a bicycle in front of it",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle turning right next to pedestrian with stroller",
+        "bicycle traveling alongside construction indicators",
+        "bicycle and vehicle traveling in bike lane"
     ],
-    "c08279c0-10b4-3d21-b13f-a1c1a0b87f8b": [
+    "2b044433-ddc1-3580-b560-d46474934089": [
+        "ego vehicle approaching stopped truck",
+        "pedestrian crossing between bollards",
         "pedestrian walking past right side of vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle sharing a lane with another vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle following another vehicle too closely",
         "pedestrian on intersection not using a crosswalk",
-        "ego vehicle following vehicle that is being overtaken on the right"
+        "dog on roadway",
+        "regular vehicles that are stopped or nearly stopped",
+        "stop sign behind a pedestrian",
+        "regular vehicle turning right",
+        "vehicle turning right near construction zone",
+        "pedestrian facing toward the bus"
     ],
-    "f41d0e8f-856e-3f7d-a3f9-ff5ba7c8e06d": [
-        "bicycle in vehicle lane with vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "vehicle turning left with a bicycle in front of it",
-        "bicycle passing by parked vehicle",
-        "bicycle behind a bus",
-        "bicycle near a bus",
-        "ego vehicle approaching cyclist in same lane",
-        "city bus",
-        "ego vehicle approaching bicycle merging from bike lane",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+    "b1a98ad6-9b3e-35fb-afae-70b279fcbfc0": [
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle within 5 meters of a bicycle",
+        "a group of people",
+        "motorcycle between stopped vehicles",
+        "bicycle near traffic cone",
+        "motorcycle between two vehicles",
+        "box trucks within 10 meters of an intersection",
+        "pedestrians using designated crossing",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle with a bicycle to its right"
     ],
-    "41c3597a-aab1-3123-85a1-dd5d459af461": [
-        "vehicle sharing a lane with another vehicle",
-        "passenger vehicle turning right",
-        "vehicle making a right turn",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle two vehicles ahead is turning",
-        "accelerating passenger vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "accelerating truck",
+    "f84b4941-8e99-3957-b6f6-db1590338cf6": [
+        "vehicle behind another vehicle that has a pedestrian on its right side",
         "ego vehicle near construction cone",
-        "bicycle traveling alongside parked vehicles"
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "ego vehicle approaching stopped delivery truck",
+        "school bus on intersection",
+        "vehicle at a stop sign",
+        "vehicle stopped at construction barrel",
+        "ego vehicle near construction barrel",
+        "stationary construction barrel",
+        "vehicle traveling over 20 meters per second"
     ],
-    "5b1d8b11-4f90-3577-be0b-193e102fda82": [
+    "6aa2ac89-6b25-3af6-ad59-221351189f4b": [
+        "ego vehicle near articulated bus",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "vehicle changing lanes",
+        "multiple buses within 50 meters ahead",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "bus with another bus in its lane",
+        "vehicle getting passed from the right",
+        "stopped vehicles at intersection being crossed by pedestrians"
+    ],
+    "c990cafc-f96c-3107-b213-01d217b11272": [
+        "passenger vehicle turning right",
+        "ego vehicle approaching stopped delivery truck",
+        "pedestrian facing away from the ego vehicle",
+        "pedestrian to the left of a truck",
+        "dog near pedestrian",
+        "bicycle near a bus",
+        "vehicle with animal in front",
+        "motorcycle overtaking a vehicle",
+        "bicycle behind a bus",
+        "dog near an intersection"
+    ],
+    "72c31859-3676-3cbb-a773-0591d8d5799e": [
+        "motorcycle between stopped vehicles",
+        "pedestrian turning and watching the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "pedestrian crossing ahead of ego vehicle",
+        "pedestrian crossing at bollard",
+        "truck without trailer",
         "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "objects getting closer to the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian to the back-right of the ego vehicle",
+        "bicycle traveling alongside parked vehicles"
+    ],
+    "00a6ffc1-6ce9-3bc3-a060-6006e9893a1a": [
+        "bicycle near school bus",
+        "box truck changing lanes ahead",
+        "vehicle with multiple construction cones on the left side",
+        "box truck changing lanes to the left",
+        "vehicle surrounded by bicycles on all sides",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bus in bus lane",
+        "dog",
+        "pedestrians facing each other at close range, possibly conversing",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    ],
+    "2a9b2658-097e-3f8b-a817-22f2553c5de8": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "pedestrians over 30 meters away",
+        "bus within 5 meters to either side of ego vehicle",
+        "stopped car",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrian crossing ahead of ego vehicle",
-        "bicycle near traffic cone",
-        "left lane change while there is a vehicle to the left",
-        "vehicle being followed by ego vehicle while being overtaken on right",
+        "person",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "school bus at pedestrian crossing",
+        "vehicle turning at intersection with nearby pedestrians"
+    ],
+    "84bb4b17-e7f2-3a1b-8c2b-6d6ec9a23e31": [
+        "vehicle passing near person in wheelchair",
+        "motorcycle between two vehicles",
+        "motorcycle between stopped vehicles",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "ego vehicle near bollard",
+        "vehicle turning right with pedestrian waiting",
+        "box truck changing lanes ahead",
+        "passenger vehicle turning left at intersection",
         "vehicle turning right with pedestrian in front",
-        "vehicle traveling over 20 meters per second",
-        "vehicle with multiple pedestrians to the left"
+        "vehicle hard braking with another vehicle ahead"
     ],
-    "03b2cf2d-fb61-36fe-936f-36bbf197a8ac": [
-        "pedestrian near bollard",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle accelerating on intersection",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle hard braking with another vehicle ahead",
-        "ego vehicle near construction cone",
+    "3c51357e-f6e9-3cda-9036-fe6e6cd442fe": [
+        "vehicle traveling over 20 meters per second",
         "ego vehicle near bollard",
-        "group of three people"
+        "pedestrian near construction cone",
+        "pedestrian crossing at bollard",
+        "left lane change while there is a vehicle to the left",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle accelerating while changing lanes",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "b51561d9-08b0-3599-bc78-016f1441bb91": [
-        "pedestrian walking with stroller",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+    "aa539866-29e4-353e-95a9-b6d321b53b33": [
+        "box truck near at least 3 construction cones",
+        "bicycle near traffic cone",
+        "pedestrian crossing at bollard",
+        "pedestrian crossing between bollards",
+        "bus with another bus in its lane",
         "bicycle near a bus",
-        "vehicle navigating near multiple bicycles",
-        "group of three people",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "stroller",
-        "vehicle traveling over 20 meters per second",
-        "vehicle changing lanes through bike lane"
+        "pedestrian with wheelchair at crosswalk",
+        "box truck with multiple construction cones to its right",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian on road not facing traffic"
     ],
-    "14f5485e-7417-3a5b-9be3-ec88461d03d4": [
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrians using designated crossing",
+    "cd2353c2-0fb6-3e18-8281-4c0df1d3189a": [
+        "bicycle in same lane as a vehicle",
         "pedestrian walking with dog on sidewalk",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian walking past right side of vehicle",
+        "dog near an intersection",
+        "dog on roadway",
         "dog",
-        "vehicle accelerating while changing lanes",
+        "bicycle in vehicle lane with vehicle",
         "dog near pedestrian",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle with multiple construction cones on the left side"
+        "pedestrian walking with stroller",
+        "truck on intersection",
+        "at least active 2 vehicles within 15 meters behind ego vehicle"
     ],
-    "9afab336-dbae-3f70-a669-46813f4570d7": [
-        "dog near an intersection",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle approaching stopped truck",
-        "pedestrian to the left of a truck",
-        "ego vehicle approaching intersection with crossing dog",
-        "pedestrian walking with dog on sidewalk",
+    "d2c6775c-e0a0-3460-b1b8-8d0ce2e0ae4e": [
+        "pedestrian near construction cone",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "pedestrian walking alongside stopped bus",
-        "dog on roadway",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
-    ],
-    "90f360d8-35f7-3c54-b2da-e99b354bc4cb": [
-        "vehicle facing away from the ego vehicle",
-        "parked vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "stationary object",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "pedestrians over 30 meters away",
-        "vehicle at a stop sign",
-        "vehicle facing the ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
-    ],
-    "7186d7d2-453e-4193-b327-72b66bbe3fd0": [
-        "a group of people",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "object that hasn't moved",
-        "stopped car",
-        "motorcycle between two vehicles",
-        "regular vehicles that are stopped or nearly stopped",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "vehicle approaching stopped vehicle at intersection"
-    ],
-    "770a58e6-eff6-39b7-a265-fe7f202fe8b2": [
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "bicycle facing toward a vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "accelerating truck",
-        "vehicle with a bicycle to its right",
-        "vehicle two vehicles ahead is changing lanes",
-        "bicycle facing toward moving traffic",
-        "vehicle with multiple bicycles ahead",
-        "group of people",
-        "vehicle being passed on the left by another vehicle"
-    ],
-    "9b1da4e7-03a9-3277-91f3-ef6e610a6320": [
-        "vehicle two cars ahead is braking",
-        "vehicle passing near person in wheelchair",
-        "passenger vehicle swerving left",
-        "vehicle two vehicles ahead is turning",
-        "vehicle changing lanes while in bike lane",
-        "box trucks within 10 meters of an intersection",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle changing lanes through bike lane",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle at a stop sign"
+        "motorcycle near construction cone",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "motorcycle overtaking a vehicle",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "pedestrian approaching a parked vehicle",
+        "dog"
     ],
-    "83faae69-e37e-4804-b7a9-684d4a900320": [
-        "pedestrian between moving vehicles on both sides",
+    "3ea6b5a0-510a-3157-ba88-5124d61280b0": [
+        "vehicle making a right turn",
+        "vehicle following another vehicle too closely",
         "vehicle moving at crawling speed",
-        "accelerating truck",
-        "pedestrian to the left of a truck",
-        "truck sharing a lane with another truck",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "any vehicle in front of stop sign",
-        "bicycle in vehicle lane with vehicle"
-    ],
-    "4d324eb4-39f1-3837-9b97-c10db5d2b61d": [
-        "pedestrian facing toward ego vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "regular vehicles that are stopped or nearly stopped",
-        "bus within 5 meters to either side of ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle facing toward parked vehicles",
         "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "pedestrians using designated crossing",
-        "vehicle facing away from the ego vehicle",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "ego vehicle approaching stopped truck"
-    ],
-    "e65e405c-8aea-30f5-a926-1e0fbbeefb9f": [
-        "dog near an intersection",
-        "vehicle with multiple bicycles ahead",
-        "bicycle following closely behind a vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle navigating near multiple bicycles",
-        "vehicle in close proximity to bicycle",
-        "vehicle crossing path of another vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle two cars ahead is braking",
-        "pedestrian turning and watching the ego vehicle"
+        "ego vehicle approaching stopped delivery truck",
+        "two cars back from the ego vehicle",
+        "vehicle stopped at a stop sign",
+        "ego vehicle with vehicles on both sides"
     ],
-    "59a668bc-5caf-3ccc-8335-e9cff4c61d0e": [
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle facing the ego vehicle",
-        "stationary object",
-        "stop sign behind a pedestrian",
-        "the vehicle two cars in front of the ego vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "parked vehicle",
-        "stopped car",
-        "vehicle at intersection facing another vehicle",
-        "bicycle and vehicle traveling in bike lane"
+    "67d00dd9-fd33-3518-85f5-e26353373c33": [
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle turning right at stop sign",
+        "passenger vehicle turning left at intersection",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle turning right near construction zone",
+        "vehicle being overtaken on the right",
+        "vehicle two vehicles ahead is braking",
+        "bicycle crossing vehicle path at intersection",
+        "ego vehicle near bollard",
+        "truck cab with trailer sharing lane with regular vehicle"
     ],
-    "7ebbdbeb-a8de-3612-8f22-6ce91980841d": [
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "box trucks within 10 meters of an intersection",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "pedestrian between moving vehicles on both sides",
-        "pedestrian crossing ahead of ego vehicle",
-        "multiple pedestrians crossing ahead",
+    "adcf7d18-0510-35b0-a2fa-b4cea13a6d76": [
+        "dog near an intersection",
+        "truck in the same lane as a bus",
+        "bus in bus lane",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "ego vehicle approaching stopped delivery truck",
-        "turning left",
-        "vehicle braking near pedestrian crossing"
-    ],
-    "aedbd525-e6df-4c0c-8be6-61c27fe58fd6": [
-        "motorcycle between stopped vehicles",
-        "parked vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle getting passed from the right",
-        "object that hasn't moved",
-        "vehicle facing toward parked vehicles",
-        "motorcycle between two vehicles",
-        "vehicle braking near pedestrian crossing",
-        "ego vehicle following vehicle being overtaken on right"
+        "bus changing lanes",
+        "pedestrian with multiple dogs",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle with a bicycle to its right",
+        "bus in the same lane as a truck"
     ],
-    "18bdf01b-6ba6-30a8-a707-1f1458529d3d": [
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle traveling with vehicle traffic",
-        "dog near pedestrian",
-        "pedestrian walking with stroller",
-        "bicycle in same lane as a vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle sharing lane as a regular vehicle",
-        "stroller",
-        "vehicle surrounded by bicycles on all sides",
-        "group of pedestrians ahead of the ego vehicle"
+    "5d55a63a-3146-32d9-89ec-e207e95ecbde": [
+        "stopped car",
+        "pedestrians using designated crossing",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle turning at intersection with nearby pedestrians",
+        "pedestrians over 30 meters away",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "dog on roadway",
+        "school bus on intersection",
+        "dog near an intersection",
+        "vehicle being crossed by a pedestrian"
     ],
-    "eaaf5ad3-2cec-3369-b3d1-97c737ecaf19": [
-        "pedestrian between moving vehicles on both sides",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "turning left",
-        "vehicle accelerating aggressively",
-        "vehicle accelerating while changing lanes",
-        "city bus",
-        "bus with another bus in its lane",
-        "ego vehicle near articulated bus",
-        "car turning right",
-        "vehicle two vehicles ahead is at a stop sign"
+    "c7f5e5c1-dc52-3619-8998-420b2e280d8a": [
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "stationary construction barrel",
+        "motorcyclist braking hard",
+        "ego vehicle two cars ahead of another vehicle",
+        "passenger vehicle swerving left",
+        "vehicle accelerating on intersection",
+        "vehicle near message board trailer",
+        "vehicle near construction barrel",
+        "ego vehicle merging between two regular vehicles"
     ],
-    "e68d1f0d-eb44-3751-975d-f80609f695ae": [
-        "vehicle hard braking with another vehicle ahead",
-        "truck without trailer",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "box truck with multiple construction cones to its right",
-        "box truck braking in front of ego vehicle",
-        "truck on intersection",
-        "box truck near at least 3 construction cones",
-        "accelerating truck",
+    "c8cdffb0-7942-3ff5-9f71-210e095e1d31": [
+        "truck in the same lane as a bus",
+        "vehicle two cars ahead is braking",
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle passing truck with pedestrian crossing ahead",
         "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "truck changing lanes to the right",
+        "ego vehicle approaching construction zone with traffic controller",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "bus with at least 3 pedestrians within 5 meters"
     ],
-    "8858428d-8fd5-3c3f-8ca4-d01f6e25e63c": [
-        "vehicle turning right next to pedestrian with stroller",
-        "passenger vehicle near stroller in road",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle turning left while pedestrian crosses at crosswalk",
+    "d8bd6071-f3ae-31fd-866a-9e6e4d6519e2": [
+        "bus with at least 3 pedestrians within 5 meters",
+        "regular vehicle turning right",
+        "car driving in bus lane",
         "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle turning while pedestrian crosses with stroller",
-        "multiple pedestrians crossing ahead",
-        "stroller",
-        "vehicle changing lanes through bike lane",
-        "vehicle approaching stopped vehicle at intersection"
+        "bus in bus lane",
+        "passenger vehicle turning right",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "pedestrian facing toward the bus",
+        "pedestrian between moving vehicles on both sides",
+        "bicycle crossing vehicle path at intersection"
     ],
-    "6b14d7c0-20f9-390b-af38-507a5de5998c": [
-        "vehicle traveling over 20 meters per second",
+    "f2b0585b-ada3-3123-963e-14df7d96ca9e": [
+        "motorcycle in the same lane as a box truck",
+        "motorcycle near stop sign",
         "dog crossing in front of vehicle",
-        "vehicle near construction barrel",
+        "vehicle being overtaken on the left",
+        "pedestrian to the back-right of the ego vehicle",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "dog near an intersection",
-        "bicycle near traffic cone",
-        "dog on roadway",
-        "active vehicle at stop sign",
-        "stroller with bollards on both sides"
+        "vehicle turning right with pedestrian waiting",
+        "vehicle at a stop sign",
+        "motorcycle at stop sign",
+        "vehicle turning right at stop sign"
     ],
-    "3b2e6033-f37f-3a73-9fab-88317b9b6095": [
-        "box trucks within 10 meters of an intersection",
+    "7ce85124-312b-35f0-a1a2-32206f75a947": [
+        "pedestrian near stop sign",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle changing lanes through bike lane",
+        "pedestrian walking alongside bollard",
+        "vehicle navigating near multiple bicycles",
+        "car with a stroller to its left",
+        "pedestrian near bollard",
+        "vehicle within 5 meters of a bicycle",
         "stroller",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "pedestrian walking with stroller",
+        "vehicle with a bicycle to its right"
+    ],
+    "5d062611-5417-3405-997c-1d1aefe4d85f": [
+        "bicycle near school bus",
+        "bus making right turn",
+        "pedestrian crossing in front of cyclist near intersection",
+        "bicyclist within 3 meters on either side",
+        "vehicle turning left with a bicycle in front of it",
         "school bus on intersection",
-        "vehicle turning right with pedestrian in front",
         "motorcycle between two vehicles",
-        "vehicle with multiple pedestrians to the left",
-        "bus in the same lane as a truck",
-        "box truck with multiple construction cones to its right"
-    ],
-    "b5e6e498-54b3-37bb-b2a3-cdac33a18363": [
-        "ego vehicle with parked bicycles ahead",
-        "truck on intersection",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle changing lanes through bike lane",
-        "vehicle with a bicycle to its right",
-        "vehicle approaching stopped vehicle at intersection",
-        "box trucks within 10 meters of an intersection",
-        "vehicle changing lanes while in bike lane",
-        "vehicle facing and heading toward pedestrian group",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
-    ],
-    "85026edc-5fdf-308e-a8ef-a1aad1151c50": [
-        "pedestrian near bollard",
-        "accelerating truck",
-        "vehicle navigating near multiple bicycles",
-        "ego vehicle following vehicle being overtaken on right",
-        "oncoming vehicle changing lanes",
-        "vehicle in close proximity to bicycle",
-        "vehicle with multiple bicycles ahead",
-        "pedestrian crossing between bollards",
-        "bicycle crossing vehicle path at intersection",
-        "multiple motorcycles ahead of the ego vehicle"
+        "pedestrian on road not facing traffic",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "school bus at pedestrian crossing"
     ],
-    "bb533c69-1e0b-341c-bedd-ff25fe9b84bf": [
+    "713ac3dd-8777-373d-b87d-f3dd9820320e": [
         "vehicle braking near pedestrian crossing",
-        "vehicle approaching stopped vehicle at intersection",
-        "truck on intersection",
+        "moving bicycle directly to the left of the ego vehicle",
+        "unattended dog",
+        "dog near pedestrian",
         "city bus",
-        "bicycle on intersection",
-        "bus in bus lane",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle braking at pedestrian crossing",
-        "ego vehicle near pedestrian crossing sign",
-        "ego vehicle changing lanes to the left"
+        "ego vehicle approaching pedestrian at crosswalk",
+        "ego vehicle approaching stopped truck",
+        "jaywalking pedestrian",
+        "dog",
+        "bicycle passing by parked vehicle"
     ],
-    "4c18ef76-84ba-4a78-8275-7663101fffcf": [
-        "vehicle being tailgated while approaching stopped traffic",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "vehicle facing and heading toward pedestrian group",
-        "passenger vehicle turning left at intersection",
-        "passenger vehicle turning right",
-        "vehicle two vehicles ahead is turning",
+    "58d01358-5927-36fa-9e11-d18d1dc1f4f0": [
+        "vehicle changing lanes to the right",
         "vehicle making a right turn",
-        "active vehicle at stop sign",
-        "accelerating passenger vehicle"
-    ],
-    "5bc5e7b0-4d90-3ac8-8ca8-f6037e1cf75c": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "objects getting closer to the ego vehicle",
-        "box truck with multiple construction cones to its right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "box truck near at least 3 construction cones",
-        "ego vehicle changing lanes to the left",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
-    ],
-    "ef625e46-d0d4-38b9-9403-5614e7b39ec8": [
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle in close proximity to bicycle",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle two cars ahead is braking",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "motorcycle between two vehicles",
-        "motorcycle between stopped vehicles",
-        "passenger vehicle swerving left",
-        "bicycle passing by parked vehicle",
-        "bicycle on intersection"
-    ],
-    "df1935dc-1e5f-3f4d-bdcb-e6c2bcb07667": [
-        "vehicle with multiple pedestrians to the left",
         "vehicle traveling over 20 meters per second",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle two vehicles ahead is braking",
-        "the active vehicle in front of the vehicle ahead",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle turning right with pedestrian in front",
-        "pedestrian to the back-right of the ego vehicle"
-    ],
-    "4eb237d9-9f8c-3426-9da6-4aad349ff8aa": [
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "regular vehicle turning right",
-        "passenger vehicle turning right",
-        "oncoming vehicle changing lanes",
-        "vehicle changing lanes while in bike lane",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle changing lanes through bike lane",
-        "vehicle at intersection facing another vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "pedestrian approaching a parked vehicle"
-    ],
-    "7cd08674-1787-37d9-9365-988df023724b": [
-        "bicycle traveling alongside parked vehicles",
-        "car following closely behind bicyclist",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle facing toward a vehicle",
-        "bicycle facing toward moving traffic",
-        "vehicle within 5 meters of a bicycle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle in same lane as a vehicle",
-        "bicycle near traffic cone",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
-    ],
-    "cf6a99cb-b8bc-34d7-bdca-30e50e66cd74": [
-        "accelerating passenger vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "motorcycle between stopped vehicles",
-        "vehicle facing away from the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle stopped at a stop sign"
-    ],
-    "4f363f6a-e51c-4d22-b232-cf78f1520966": [
-        "objects getting closer to the ego vehicle",
-        "pedestrian turning and watching the ego vehicle",
-        "construction item on road",
+        "vehicle moving at crawling speed",
+        "vehicle facing toward parked vehicles",
+        "vehicle getting passed from the right",
         "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian walking past right side of vehicle",
-        "pedestrians over 30 meters away",
-        "stationary construction barrel",
-        "bus changing lanes",
-        "bicycle passing between bus and construction barrier",
-        "bicyclist riding in vehicle lane"
-    ],
-    "d0828f48-3e67-3136-9c70-1f99968c8280": [
-        "bicycle behind a bus",
-        "parked box trucks",
-        "multiple pedestrians crossing ahead",
-        "bus with multiple pedestrians waiting on the right side",
-        "bicycle near a bus",
-        "moving bus to the front-left of the ego vehicle",
-        "bus making right turn",
-        "bus with at least 3 pedestrians within 5 meters",
-        "vehicle surrounded by bicycles on all sides",
-        "vehicle stopped at a stop sign"
-    ],
-    "9ecbfef8-29c6-334a-b4ff-aa8201439826": [
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "bicycle traveling against traffic",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "bicycle near traffic cone",
-        "vehicle turning left with a bicycle in front of it",
-        "bus making right turn",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "pedestrian facing toward the bus",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "vehicle changing lanes while on an intersection",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle changing lanes while in bike lane"
     ],
-    "4667e48c-4d16-38be-b277-6b0013d6588c": [
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle stopped at construction barrel",
-        "stationary construction barrel",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle near construction barrel",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
+    "648e8393-f46f-384b-9bd1-c25a2285077d": [
         "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "ego vehicle approaching animal near construction zone"
+        "a group of people",
+        "wheelchair user at pedestrian crossing",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle turning right with pedestrian in front",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle turning at intersection with nearby pedestrians",
+        "group of three people",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle maneuvering between construction barriers"
+    ],
+    "73539e96-eef2-3302-bdf4-a39e9d95b6e7": [
+        "group of people",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle two vehicles ahead is braking",
+        "vehicle accelerating more than two meters per second",
+        "stroller with bollards on both sides",
+        "vehicle accelerating on intersection",
+        "vehicle being overtaken on the right",
+        "bus with multiple strollers in front",
+        "vehicle turning left",
+        "a group of people"
     ],
-    "4766da89-ca13-3e92-b53e-00bc710e9bba": [
-        "ego vehicle two cars ahead of another vehicle",
+    "1ab241cf-f9c5-3f8a-88bd-4e14baad8ede": [
+        "vehicle to the back right of the ego vehicle",
+        "group of people",
+        "making a left lane change while there is a vehicle to the right",
         "ego vehicle following vehicle being overtaken on right",
-        "bicycle in vehicle lane with vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "bicycle facing toward a vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "ego vehicle near bollard",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle being tailgated while approaching stopped traffic",
+        "a group of people",
         "vehicle changing lanes through bike lane",
-        "bus changing lanes"
+        "vehicle being overtaken while approaching another vehicle",
+        "ego vehicle approaching stopped delivery truck"
     ],
-    "bb9be2e6-8f0e-3bb3-8bb9-5d9aa9df384d": [
+    "b6c04ab6-1c07-3e17-97d5-e870db090e52": [
+        "bus with multiple pedestrians waiting on the right side",
+        "dog near an intersection",
+        "pedestrian near construction cone",
+        "vehicle with animal in front",
         "bicycle traveling alongside parked vehicles",
-        "car driving in bus lane",
-        "city bus",
-        "bus changing lanes",
+        "vehicle changing lanes",
+        "box truck in bike lane",
+        "motorcyclist",
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle following vehicle being overtaken on right"
+    ],
+    "3ca11a5e-50b2-3cc3-af7a-ce7ab02b9954": [
+        "vehicle facing toward a pedestrian at a crosswalk",
         "bus making right turn",
-        "bus in bus lane",
-        "bus with another bus in its lane",
-        "bicycle sharing lane as a regular vehicle",
-        "wheeled rider crossing between moving vehicles",
-        "ego vehicle near pedestrian crossing sign"
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle stopped at construction barrel",
+        "vehicle facing toward parked vehicles",
+        "pedestrian near construction cone",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "multiple pedestrians crossing ahead",
+        "pedestrians facing each other at close range, possibly conversing",
+        "a group of people"
     ],
-    "ec02cf7e-36d3-3e9d-8835-3b6c27975bea": [
+    "919f13de-857f-3b1c-9f8e-7cbe500a60ae": [
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian near bollard",
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle near construction cone",
+        "vehicle accelerating while changing lanes",
         "ego vehicle with vehicles on both sides",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle changing lanes",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle with a bicycle to its right",
-        "turning left",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle two vehicles ahead is changing lanes",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle making a right turn"
-    ],
-    "6419dcfd-8777-35fa-924c-ebefccde0a9b": [
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "car driving in bus lane",
-        "pedestrians using designated crossing",
-        "vehicle being overtaken on the right",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle changing lanes to the right",
-        "group of three people",
-        "pedestrian crossing between bollards",
-        "bicycle passing by parked vehicle",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+        "ego vehicle near bollard",
+        "ego vehicle near stroller on sidewalk",
+        "vehicle stopped at construction barrel",
+        "vehicle turning right near construction zone"
     ],
-    "072c8e90-a51c-3429-9cdf-4dababb4e9d8": [
+    "56c24ed8-68c5-3a08-8e3c-19646ac670e5": [
         "bus with another bus in its lane",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle turning left with a bicycle in front of it",
-        "moving bus to the front-left of the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
+        "bus in bus lane",
+        "bicycle behind a bus",
+        "vehicle turning right with pedestrian waiting",
+        "pedestrian walking alongside stopped bus",
         "multiple buses within 50 meters ahead",
-        "bus within 5 meters to either side of ego vehicle",
-        "group of people",
-        "car driving in bus lane",
-        "vehicle turning near group of cyclists"
-    ],
-    "a4f240a0-12d4-3542-a11f-0c592e90e4da": [
-        "pedestrian walking with dog on sidewalk",
-        "a group of people",
-        "accelerating vehicle changing lanes to the right",
-        "dog near pedestrian",
-        "dog",
-        "unattended dog",
-        "vehicle crossing path of another vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "turning left",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
+        "truck changing lanes to the right",
+        "bicycle traveling against traffic",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "bicycle near a bus"
     ],
-    "c654b457-11d4-393c-a638-188855c8f2e5": [
-        "two cars back from the ego vehicle",
-        "pedestrian walking past right side of vehicle",
+    "928e282f-d1a0-3e85-9582-0b33664c49e8": [
         "vehicle in close proximity to bicycle",
-        "jaywalking pedestrian",
-        "bicycle in same lane as a vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "bicycle in vehicle lane with vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle two vehicles ahead is turning"
-    ],
-    "a4087bac-8194-4c9e-8b2d-4bda58773a3c": [
-        "bicycle in vehicle lane with vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle accelerating towards pedestrian crossing",
         "bicycle facing toward moving traffic",
-        "ego vehicle with parked bicycles ahead",
-        "bicyclist on intersection",
-        "bicycle traveling against traffic",
-        "bicycle on intersection",
-        "bicycle traveling with vehicle traffic",
-        "vehicle in close proximity to bicycle",
-        "vehicle accelerating while changing lanes",
-        "vehicle hard braking with another vehicle ahead"
+        "vehicle navigating near multiple bicycles",
+        "bicycle passing by parked vehicle",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle facing toward a vehicle",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle with multiple bicycles ahead"
     ],
-    "3fbdfb6c-927f-4aaa-81b1-21b02efd4c01": [
-        "car turning right",
-        "vehicle being overtaken on the right",
-        "vehicle accelerating towards pedestrian crossing",
+    "0526e68e-2ff1-3e53-b0f8-45df02e45a93": [
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle with vehicles on both sides",
+        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle with multiple pedestrians to the left",
+        "ego vehicle near bollard",
+        "vehicle with multiple construction cones on the left side",
         "ego vehicle two cars ahead of another vehicle",
+        "vehicle being crossed by a pedestrian"
+    ],
+    "08bcc06e-3adf-3651-aa4d-d791004418ca": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "making a left lane change while there is a vehicle to the right",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle two vehicles ahead is turning",
+        "vehicle turning at intersection with nearby pedestrians",
+        "box truck changing lanes to the left",
         "vehicle making a right turn",
         "vehicle being overtaken while approaching another vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "passenger vehicle swerving left",
-        "vehicle braking heavily"
+        "box truck changing lanes ahead",
+        "vehicle changing lanes"
     ],
-    "380e5bf0-1c68-36a4-ac64-09a03b60bebf": [
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "city bus",
-        "vehicle turning right with pedestrian in front",
-        "bus with at least 3 pedestrians within 5 meters",
-        "vehicle turning right with pedestrian waiting",
-        "bicycle following closely behind a vehicle",
-        "ego vehicle near articulated bus",
-        "vehicle turning at intersection with nearby pedestrians",
+    "bee1146d-2e80-37e3-b08a-6ac8858e8973": [
+        "multiple buses within 50 meters ahead",
+        "bus with another bus in its lane",
         "car driving in bus lane",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle passing official signaler",
+        "bus in bus lane",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle turning right near construction zone"
     ],
-    "5037a27d-95f5-352f-9c64-5b8e75f574b2": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle turning right with pedestrian in front",
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrians over 30 meters away",
-        "regular vehicle turning right",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "objects getting closer to the ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "ego vehicle following vehicle that is being overtaken on the right"
+    "2451c219-3002-3b2e-8fa9-2b7fea168b3b": [
+        "multiple pedestrians crossing ahead",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "pedestrian walking past right side of vehicle",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "passenger vehicle near stroller in road",
+        "box truck changing lanes to the left"
     ],
-    "a146ab19-f4f3-334f-b830-fc68de83e26c": [
-        "vehicle getting passed from the right",
+    "d5d40b4c-48d9-3b68-903a-025eb0fa334d": [
+        "pedestrian crossing in front of vehicle at crosswalk",
         "pedestrian walking alongside bollard",
-        "object that hasn't moved",
-        "pedestrian crossing between bollards",
+        "car turning right",
         "pedestrian near bollard",
-        "ego vehicle near bollard",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle accelerating more than two meters per second",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "pedestrian near stop sign",
+        "vehicle changing lanes while on an intersection",
+        "pedestrian facing toward the bus",
+        "pedestrian to the back-right of the ego vehicle",
+        "regular vehicle turning right"
+    ],
+    "5426cd2f-f4b9-3660-99d2-6617bb0f1b26": [
+        "dog near pedestrian",
+        "pedestrian with multiple dogs",
+        "oncoming vehicle changing lanes",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "motorcycle in bike lane",
+        "active vehicle at stop sign",
+        "dog near an intersection",
+        "semi truck within 30 meters ahead of ego vehicle"
+    ],
+    "8aad8778-73ce-3fa0-93c7-804ac998667d": [
+        "car following closely behind bicyclist",
+        "motorcyclist braking hard",
+        "pedestrian walking alongside stopped bus",
+        "bicycle near a bus",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bus within 5 meters to either side of ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "box truck braking in front of ego vehicle",
+        "bicyclist riding in vehicle lane",
+        "ego vehicle with parked bicycles ahead"
+    ],
+    "28617035-7557-3cb9-99c2-754f72fd34b4": [
+        "accelerating truck",
+        "vehicle two vehicles ahead is changing lanes",
+        "box truck near at least 3 construction cones",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle changing lanes while in bike lane",
+        "pedestrians over 30 meters away",
+        "truck without trailer",
+        "vehicle with a bicycle to its right",
+        "vehicle changing lanes through bike lane",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "118a1e87-aff4-35f5-aa38-01504a63ddce": [
-        "bus making right turn",
-        "bus in bus lane",
-        "car driving in bus lane",
-        "pedestrian near construction cone",
-        "bus with at least 3 pedestrians within 5 meters",
+    "f64ed43e-417a-31ad-a322-b6108bf99a71": [
+        "bicycle traveling alongside construction indicators",
         "pedestrian walking alongside bollard",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle two vehicles ahead is changing lanes",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "pedestrian to the left of a truck",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle two vehicles ahead is at a stop sign",
+        "bicycle traveling against traffic",
         "bicycle crossing vehicle path at intersection",
-        "objects getting closer to the ego vehicle"
-    ],
-    "8e02e2db-2836-37ec-af33-a1cc2e6e49dc": [
-        "passenger vehicle swerving left",
-        "bus with at least 3 pedestrians within 5 meters",
-        "passenger vehicle turning right",
         "bicycle behind a bus",
-        "vehicle with multiple bicycles ahead",
-        "bus with multiple pedestrians waiting on the right side",
-        "bicycle following closely behind a vehicle",
-        "bicycle near a bus",
-        "vehicle braking near pedestrian crossing",
-        "bus in bus lane"
-    ],
-    "718a2f8d-954a-3cd8-89e6-43898cf21fee": [
-        "vehicle getting passed from the right",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle moving at crawling speed",
-        "vehicle to the back right of the ego vehicle",
-        "accelerating passenger vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "pedestrian walking between construction barriers with approaching vehicle"
+        "truck sharing a lane with another truck"
     ],
-    "6937b4e5-b5b4-3970-b5dd-9ad194e6c338": [
-        "bus with multiple pedestrians waiting on the right side",
-        "bicycle in same lane as a vehicle",
+    "247f91e7-3177-33ad-b99e-0e0a4dc76751": [
+        "ego vehicle two cars ahead of another vehicle",
+        "pedestrian walking with dog on sidewalk",
         "bicycle passing by parked vehicle",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus with another bus in its lane",
-        "motorcycle between stopped vehicles",
+        "bicycle in same lane as a vehicle",
+        "bicyclist on intersection",
+        "bicyclist riding in vehicle lane",
+        "bicycle sharing lane as a regular vehicle",
+        "bicycle on intersection",
+        "vehicle two vehicles ahead is turning",
+        "bicycle traveling with vehicle traffic"
+    ],
+    "e94f58d9-177b-31be-aa05-e6dd10d04124": [
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "bicycle traveling against traffic",
+        "vehicle changing lanes through bike lane",
+        "moving bicycle directly to the left of the ego vehicle",
+        "active vehicle at stop sign",
+        "bicycle traveling alongside parked vehicles",
+        "accelerating truck",
+        "school bus on intersection",
+        "bicycle traveling with vehicle traffic"
+    ],
+    "81d2b40a-c579-3e9c-b520-bee26cda947d": [
+        "dog",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicyclist on intersection",
+        "bicycle facing toward moving traffic",
+        "dog near an intersection",
         "bicycle near a bus",
-        "bicycle behind a bus",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle getting passed from the right"
+        "bicycle on intersection",
+        "pedestrian turning and watching the ego vehicle",
+        "bicycle facing toward a vehicle",
+        "motorcycle between two vehicles"
     ],
-    "80da8956-f418-319c-9f49-3d47d9002546": [
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "dog crossing in front of vehicle",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle maneuvering between construction barriers",
-        "dog on roadway",
-        "pedestrian with multiple dogs",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian crossing between stopped buses"
+    "c69e348a-8e10-31dc-b71b-dd8e5cfd7211": [
+        "the vehicle two cars in front of the ego vehicle",
+        "parked box trucks",
+        "stop sign behind a pedestrian",
+        "vehicle turning right next to pedestrian with stroller",
+        "pedestrian near stop sign",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle turning right with pedestrian in front",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "stroller in the same lane as a regular vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle"
     ],
-    "8aaa2fac-59f9-3a3d-98ee-f3dde8b4d781": [
-        "vehicle being crossed by a pedestrian",
-        "pedestrian walking alongside bollard",
-        "car driving in bus lane",
+    "e125bb91-dcaf-3013-9cc7-da653d7e11e1": [
         "motorcyclist braking hard",
-        "pedestrians using designated crossing",
-        "pedestrian near bollard",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "pedestrian crossing at bollard",
+        "pedestrian facing toward the bus",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle within 5 meters of a bicycle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle with multiple bicycles ahead"
+    ],
+    "6fdd8d39-7b04-365a-9941-e9e805b05ecf": [
+        "bicycle following closely behind a vehicle",
+        "bicycle traveling against traffic",
+        "vehicle turning right with pedestrian in front",
+        "motorcycle in bike lane",
+        "bicyclist riding in vehicle lane",
+        "ego vehicle approaching cyclist in same lane",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle in same lane as a vehicle",
+        "bicycle passing by parked vehicle",
+        "bicyclist within 3 meters on either side"
+    ],
+    "595ec33e-a1aa-3aaf-8821-8d1780db354c": [
+        "bus with another bus in its lane",
+        "pedestrian crossing in front of cyclist near intersection",
         "pedestrian walking alongside stopped bus",
-        "ego vehicle changing lanes to the left",
-        "bus with multiple pedestrians waiting on the right side"
+        "bus changing lanes",
+        "bus in bus lane",
+        "vehicle accelerating on intersection",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bus making right turn",
+        "pedestrian walking past right side of vehicle"
     ],
-    "3576c0f5-c1b5-35bb-a0c4-ee95cba5c754": [
-        "the vehicle two cars in front of the ego vehicle",
-        "dog near an intersection",
-        "vehicle two cars ahead is braking",
-        "pedestrian walking with dog on sidewalk",
-        "pedestrian near bollard",
-        "vehicle accelerating more than two meters per second",
-        "dog on roadway",
-        "two cars back from the ego vehicle",
-        "pedestrian with multiple dogs",
-        "pedestrian near construction cone"
+    "cea5f5c2-e786-30f5-8305-baead8923063": [
+        "vehicle braking heavily",
+        "ego vehicle approaching cyclist in same lane",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle crossing vehicle path at intersection",
+        "bicycle sharing lane as a regular vehicle",
+        "bicyclist changing lanes to the right",
+        "bicycle on intersection",
+        "bicycle in same lane as a vehicle"
     ],
-    "639d4834-f922-3e27-9913-20aa649f815d": [
-        "vehicle turning right with pedestrian waiting",
-        "car turning right",
-        "dog near an intersection",
-        "vehicle two vehicles ahead is turning",
+    "fac8a63c-6b75-39d0-9f57-4344fde0f794": [
+        "ego vehicle merging between two regular vehicles",
         "dog on roadway",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian turning and watching the ego vehicle",
-        "truck swerving near construction cones",
-        "vehicle braking at pedestrian crossing"
-    ],
-    "e1f37027-6a39-3eb1-b38a-3f2836b84735": [
-        "vehicle moving at crawling speed",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "passenger vehicle swerving left",
-        "vehicle with multiple pedestrians to the left",
-        "motorcyclist",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle accelerating more than two meters per second",
+        "oncoming vehicle changing lanes",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "bicycle in vehicle lane with vehicle",
+        "ego vehicle two cars ahead of another vehicle",
         "vehicle braking heavily",
-        "pedestrian walking between two stopped vehicles",
-        "group of people"
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "left lane change while there is a vehicle to the left"
     ],
-    "72ad5f22-3a9c-3758-81af-abda8181a622": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle approaching crossing pedestrians",
-        "motorcycle between stopped vehicles",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian crossing ahead of ego vehicle",
+    "074d2237-ed1b-34d7-a2fc-68edbce50bb2": [
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle with multiple bicycles ahead",
+        "vehicle changing lanes near group of cyclists",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle two vehicles ahead is changing lanes",
         "multiple pedestrians crossing ahead",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "accelerating truck",
-        "vehicle being tailgated while approaching stopped traffic",
-        "bicycle in vehicle lane with vehicle"
+        "vehicle at a stop sign",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle approaching stopped vehicle at intersection"
     ],
-    "71283e26-905b-3811-b9e0-c10c0253769b": [
-        "vehicle passing school bus at stop",
-        "ego vehicle following vehicle being overtaken on right",
-        "bus changing lanes",
+    "e38c1e1d-f0e9-3d73-8193-29cbea481b4c": [
+        "truck without trailer",
+        "vehicle accelerating while changing lanes",
+        "vehicle two cars ahead is braking",
+        "oncoming vehicle changing lanes",
+        "bicycle near school bus",
+        "bicycle in vehicle lane with vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "bicycle passing by parked vehicle",
+        "dog near pedestrian",
+        "moving bus to the front-left of the ego vehicle"
+    ],
+    "65732efc-1564-3ff8-8c7c-4239a08c0d70": [
         "vehicle approaching stopped vehicle at intersection",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "school bus at pedestrian crossing",
+        "pedestrian crossing at bollard",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle turning right next to pedestrian with stroller",
+        "pedestrian crossing between bollards",
+        "pedestrian walking with stroller",
+        "car with a stroller to its left",
+        "pedestrian on intersection not using a crosswalk",
+        "traffic officer in roadway",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    ],
+    "edf3a727-664e-38be-b990-65d34012d926": [
+        "vehicle being overtaken on the left",
+        "vehicle braking near pedestrian crossing",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle in close proximity to bicycle",
+        "vehicle with multiple bicycles ahead",
+        "vehicle near construction barrel",
+        "vehicle navigating near multiple bicycles",
+        "bicyclist on intersection",
+        "bicycle following closely behind a vehicle",
+        "vehicle being passed on the left by another vehicle"
+    ],
+    "f3cc42c7-84a8-35c5-8683-13878bb9beeb": [
+        "pedestrian between moving vehicles on both sides",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "pedestrian to the back-right of the ego vehicle",
+        "ego vehicle merging between two regular vehicles",
+        "pedestrian near stop sign",
+        "vehicle accelerating while changing lanes",
         "making a left lane change while there is a vehicle to the right",
-        "school bus on intersection",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian crossing ahead of ego vehicle"
+        "truck on intersection",
+        "bus within 5 meters to either side of ego vehicle"
     ],
-    "bffb0c9e-5e3a-3251-ab5e-299491b53cbf": [
-        "car driving in bus lane",
+    "a6817756-af01-32ec-829f-d9e56ef7b6e8": [
+        "ego vehicle near stroller on sidewalk",
+        "vehicle in close proximity to bicycle",
+        "bicyclist riding in vehicle lane",
+        "vehicle turning right near construction zone",
+        "vehicle at a stop sign",
+        "bicyclist on intersection",
+        "bicycle traveling with vehicle traffic",
+        "vehicle with a bicycle to its right",
+        "car following closely behind bicyclist",
+        "bicycle facing toward a vehicle"
+    ],
+    "d551b8f9-feab-3946-9524-219e07988341": [
+        "truck sharing a lane with another truck",
+        "vehicle at intersection facing another vehicle",
+        "vehicle turning right with pedestrian in front",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicles being passed by a motorcycle on either side",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "stationary construction barrel",
-        "stop sign behind a pedestrian",
-        "pedestrian on intersection not using a crosswalk",
+        "vehicle braking heavily",
+        "vehicle being overtaken on the left"
+    ],
+    "855ba280-cd69-348d-9107-69e28cb8ad99": [
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle stopped at a stop sign",
+        "bicycle near school bus",
+        "car following closely behind bicyclist",
+        "box trucks within 10 meters of an intersection",
+        "passenger vehicle turning left at intersection",
+        "vehicle two vehicles ahead is changing lanes",
+        "motorcycle between two vehicles",
         "pedestrian near stop sign",
-        "vehicle accelerating aggressively",
-        "bus in bus lane",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle with multiple construction cones on the left side"
+        "ego vehicle near bollard"
     ],
-    "271f4204-dd77-350b-b9db-5dabc4191985": [
-        "vehicle two vehicles ahead is turning",
+    "6e106cf8-f6dd-38f6-89c8-9be7a71e7275": [
+        "truck in the same lane as a bus",
+        "bus in the same lane as a truck",
+        "pedestrian crossing ahead of ego vehicle",
+        "multiple buses within 50 meters ahead",
+        "vehicle with a bicycle to its right",
+        "ego vehicle approaching stopped truck",
+        "box truck changing lanes to the right",
+        "moving bus to the front-left of the ego vehicle",
         "accelerating passenger vehicle",
-        "vehicle accelerating on intersection",
-        "oncoming vehicle changing lanes",
+        "group of pedestrians ahead of the ego vehicle"
+    ],
+    "067b1c50-6567-3840-ab56-1ca2a0ed9c30": [
         "vehicle accelerating while changing lanes",
-        "left lane change while there is a vehicle to the left",
-        "vehicle accelerating more than two meters per second",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle crossing path of another vehicle",
-        "the vehicle two cars in front of the ego vehicle"
+        "bicycle behind a bus",
+        "bicycle near a bus",
+        "vehicle two vehicles ahead is changing lanes",
+        "ego vehicle passing official signaler",
+        "ego vehicle near articulated bus",
+        "vehicle two cars ahead is changing lanes",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
     ],
-    "7ef4a6cc-7266-3a31-8dd4-01c3d3c58dcb": [
-        "left lane change while there is a vehicle to the left",
-        "vehicle within 5 meters of a bicycle",
-        "box trucks within 10 meters of an intersection",
-        "vehicle being overtaken on the right",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "motorcyclist braking hard",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle with a bicycle to its right",
-        "vehicle traveling over 20 meters per second",
-        "bicycle facing toward moving traffic"
+    "bbdb1e21-62eb-3230-8cef-a3b091c5edad": [
+        "motorcycle between two vehicles",
+        "bicycle behind a bus",
+        "bicycle facing toward a vehicle",
+        "bicycle facing toward moving traffic",
+        "bus within 5 meters to either side of ego vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "any vehicle in front of stop sign",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "the active vehicle in front of the vehicle ahead"
     ],
-    "b09ba294-96b3-3c45-aeed-c40a309e5f4e": [
-        "active vehicle at stop sign",
+    "b6642e23-d100-3680-8882-9f3b753b2eef": [
+        "ego vehicle approaching intersection with crossing dog",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle braking at pedestrian crossing",
         "ego vehicle near construction cone",
-        "vehicle at a stop sign",
-        "any vehicle in front of stop sign",
-        "vehicle two vehicles ahead is turning",
-        "vehicle turning right at stop sign",
-        "construction item on road",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks",
-        "bicycle near traffic cone"
+        "vehicle with a bicycle to its right",
+        "vehicle in close proximity to bicycle",
+        "car following closely behind bicyclist",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle within 5 meters of a bicycle",
+        "a group of people"
     ],
-    "4e302e79-1cb9-358f-a3fb-e133a655af4f": [
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "vehicle approaching multiple pedestrians at crosswalk",
+    "f9f6a7e9-4f79-3fdf-b1a7-ba300622f116": [
         "pedestrian to the back-right of the ego vehicle",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "motorcycle overtaking a vehicle",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "motorcyclist",
+        "motorcycle in the same lane as a box truck",
+        "pedestrian facing toward the bus"
+    ],
+    "c858bd6a-81ab-3f54-b46d-ffc091ef6945": [
+        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle following vehicle that is being overtaken on the right",
         "bicycle traveling alongside parked vehicles",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian approaching a parked vehicle",
-        "regular vehicle turning right",
-        "wheeled rider crossing in front of vehicle at stop sign",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "vehicle making a right turn",
+        "vehicle being overtaken on the left",
+        "ego vehicle with vehicles on both sides",
+        "ego vehicle two cars ahead of another vehicle",
+        "school bus at pedestrian crossing",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "school bus on intersection"
     ],
-    "2b6d18dc-4c95-3301-a498-3ed152798d5b": [
-        "truck changing lanes to the right",
+    "6c26dd11-e4a9-3d85-b118-09f65c6f0f2a": [
+        "pedestrian near construction cone",
+        "bicycle facing toward a vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "dog near an intersection",
+        "vehicle two cars ahead is braking",
+        "active vehicle at stop sign",
+        "a group of people",
+        "bicycle traveling alongside construction indicators",
+        "group of pedestrians ahead of the ego vehicle"
+    ],
+    "e88132d0-4512-3d6f-a1c8-f60972332af5": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "ego vehicle in dense traffic with lane-changing vehicles",
         "vehicle passing truck with pedestrian crossing ahead",
-        "bicycle on intersection",
+        "vehicle braking at pedestrian crossing",
+        "bicyclist within 3 meters on either side",
+        "vehicle navigating near multiple bicycles",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle"
+    ],
+    "8beeb8db-28f9-396c-b752-17f906505948": [
+        "bicycle traveling against traffic",
+        "group of people",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle in same lane as a vehicle",
         "bicycle sharing lane as a regular vehicle",
-        "vehicle accelerating towards pedestrian crossing",
-        "bicycle traveling with vehicle traffic",
-        "accelerating truck",
-        "bicycle facing toward moving traffic",
-        "box truck in bike lane",
-        "ego vehicle approaching cyclist in same lane"
+        "moving bus being crossed by a bicycle",
+        "bicyclist riding in vehicle lane",
+        "vehicle changing lanes while on an intersection",
+        "ego vehicle approaching cyclist in same lane",
+        "bicyclist within 3 meters on either side"
     ],
-    "f3d1e3c3-2770-3504-a592-b62619598812": [
-        "vehicle two vehicles ahead is braking",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle accelerating more than two meters per second",
-        "vehicle accelerating while changing lanes",
+    "3933d1a2-f121-3c8a-8b01-7738e58c045f": [
+        "pedestrians facing each other at close range, possibly conversing",
+        "ego vehicle near articulated bus",
+        "motorcycle in bike lane",
+        "bus with another bus in its lane",
+        "group of three people",
+        "multiple buses within 50 meters ahead",
+        "box truck braking in front of ego vehicle",
+        "parked box trucks",
+        "bus with at least 3 pedestrians within 5 meters",
+        "pedestrian approaching a parked vehicle"
+    ],
+    "0a524e66-ee33-3b6c-89ef-eac1985316db": [
         "bus changing lanes",
-        "bus making right turn",
-        "vehicle two vehicles ahead is changing lanes",
+        "bicycle traveling alongside parked vehicles",
+        "multiple buses within 50 meters ahead",
+        "bus in bus lane",
+        "vehicle two vehicles ahead is turning",
         "bus within 5 meters to either side of ego vehicle",
-        "ego vehicle near bollard",
-        "stopped vehicles at intersection being crossed by pedestrians"
+        "bus with at least 3 pedestrians within 5 meters",
+        "vehicle turning right with pedestrian in front",
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle navigating near multiple bicycles"
     ],
-    "cd83b7cd-e2e7-34f6-bee7-1ff5ca3ed665": [
-        "vehicle two vehicles ahead is braking",
-        "vehicle facing away from the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle crossing path of another vehicle",
-        "vehicle at intersection facing another vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle being passed on the left by another vehicle",
-        "motorcycle overtaking a vehicle",
-        "ego vehicle passing parked motorcycle"
+    "b56e3f47-72a6-34e8-9ada-b4169e28e5b9": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle turning right with pedestrian waiting",
+        "stationary construction barrel",
+        "ego vehicle near bollard",
+        "vehicle approaching stopped vehicle at intersection",
+        "ego vehicle changing lanes to the left",
+        "pedestrian walking alongside bollard",
+        "vehicle with multiple bicycles ahead",
+        "ego vehicle changing lanes near construction zone"
     ],
-    "6d3bfbc9-45dc-316e-a94c-a441371d0571": [
-        "bicyclist within 3 meters on either side",
-        "bicycle traveling with vehicle traffic",
-        "bicycle in same lane as a vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "truck sharing a lane with another truck",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle passing by parked vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "ego vehicle with parked bicycles ahead"
+    "12071817-ba53-35a4-bf6c-a8e8e7ad8969": [
+        "vehicle accelerating towards pedestrian crossing",
+        "accelerating passenger vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle two vehicles ahead is turning",
+        "pedestrian near bollard",
+        "vehicle turning left",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle braking heavily",
+        "vehicle crossing path of another vehicle",
+        "bicycle near a bus"
     ],
-    "fb149ce0-7706-3bb5-9860-8c63d1c77592": [
-        "truck sharing a lane with another truck",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
+    "96284bbc-6b58-330f-a5a6-76cd518543f0": [
+        "pedestrian near bollard",
+        "motorcycle between two vehicles",
+        "car following closely behind bicyclist",
+        "vehicle at a stop sign",
         "pedestrian crossing between bollards",
+        "bus with at least 3 pedestrians within 5 meters",
+        "vehicle accelerating towards pedestrian crossing",
+        "pedestrian to the back-right of the ego vehicle",
+        "bicycle in same lane as a vehicle",
+        "bicycle in vehicle lane with vehicle"
+    ],
+    "aa630060-2eda-37bd-ae88-a513fd9fc8e3": [
+        "vehicle between two bicycles while on pedestrian crossing",
+        "vehicle braking at pedestrian crossing",
+        "active vehicle at stop sign",
         "vehicle navigating near multiple bicycles",
-        "bicycle facing toward a vehicle",
-        "bicycle facing toward moving traffic",
-        "oncoming vehicle changing lanes",
-        "stop sign behind a pedestrian",
-        "bicyclist changing lanes to the right",
-        "vehicle two cars ahead is changing lanes"
+        "vehicle with multiple bicycles ahead",
+        "motorcycle between stopped vehicles",
+        "bicycle following closely behind a vehicle",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "vehicle in close proximity to bicycle",
+        "bicycle traveling alongside parked vehicles"
     ],
-    "42c8449f-6e6d-3980-b54a-805eba6621c4": [
-        "vehicle getting passed from the right",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "passenger vehicle turning left at intersection",
-        "vehicle two vehicles ahead is turning",
-        "the vehicle two cars in front of the ego vehicle"
+    "e2de16b1-0ae9-39ad-82fd-edcabb26feca": [
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "truck sharing a lane with another truck",
+        "pedestrian to the left of a truck",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle being overtaken on the left",
+        "motorcycle between stopped vehicles",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "truck cab with trailer sharing lane with regular vehicle"
     ],
-    "8066e267-a653-3b43-8fce-a5a780912c82": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
+    "d20c3612-a64d-3aa8-bd4a-58890413afbb": [
+        "stopped car",
+        "two cars back from the ego vehicle",
+        "vehicle turning right next to pedestrian with stroller",
         "dog near an intersection",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being overtaken on the left",
+        "stroller",
+        "ego vehicle near stroller on sidewalk",
+        "unattended stroller",
         "the vehicle two cars in front of the ego vehicle",
-        "dog near pedestrian",
-        "vehicle accelerating towards pedestrian crossing",
-        "ego vehicle with vehicles on both sides",
-        "stopped car",
+        "bicyclist changing lanes to the right"
+    ],
+    "c4ea1b05-c7d5-3b59-aed1-9f3d2621ac00": [
+        "pedestrian turning and watching the ego vehicle",
         "pedestrians using designated crossing",
-        "ego vehicle approaching pedestrian at crosswalk"
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle accelerating more than two meters per second",
+        "pedestrian walking past right side of vehicle",
+        "bicycle on intersection",
+        "vehicle making a right turn",
+        "pedestrian walking alongside bollard",
+        "city bus",
+        "vehicle braking near pedestrian crossing"
     ],
-    "105f47eb-491c-3cab-91af-83c5bc1f6c48": [
-        "dog",
-        "truck without trailer",
-        "bicycle facing toward moving traffic",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "bicycle facing toward a vehicle",
+    "1a10b0e6-569f-32db-95e8-10c074e353e8": [
+        "dog near an intersection",
+        "pedestrian on road not facing traffic",
+        "bus with at least 3 pedestrians within 5 meters",
+        "box truck in bike lane",
+        "pedestrians over 30 meters away",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian with multiple dogs",
+        "vehicle with multiple pedestrians to the left",
         "dog near pedestrian",
-        "pedestrians using designated crossing",
-        "jaywalking pedestrian",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle being crossed by a pedestrian"
+        "bus with multiple pedestrians waiting on the right side"
     ],
-    "e10475f7-0d56-3a75-870d-d4206fa165d7": [
-        "active vehicle at stop sign",
-        "vehicle two vehicles ahead is changing lanes",
+    "b9b1564c-66d0-4597-a664-2735cf2ffd04": [
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "stop sign behind a pedestrian",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle being passed on the left by another vehicle",
+        "a group of people",
+        "bus in bus lane",
+        "pedestrian walking past right side of vehicle"
+    ],
+    "6b0cc3b0-2802-33a7-b885-f1f1409345ac": [
+        "vehicle two vehicles ahead is braking",
+        "vehicle passing school bus at stop",
+        "box trucks within 10 meters of an intersection",
+        "pedestrian near construction cone",
+        "construction item on road",
+        "vehicle getting passed from the right",
+        "vehicle navigating near multiple bicycles",
+        "ego vehicle near articulated bus",
         "accelerating vehicle changing lanes to the right",
-        "vehicle accelerating while changing lanes",
-        "any vehicle in front of stop sign",
-        "ego vehicle two cars ahead of another vehicle",
-        "ego vehicle with vehicles on both sides",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle changing lanes through bike lane",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+        "vehicle braking near jaywalking pedestrian or stroller"
     ],
-    "eb777faa-5b76-387e-a408-90524c6f2848": [
-        "vehicle braking at pedestrian crossing",
+    "4aae26d1-aa71-30ae-b838-2a25d1f317f5": [
+        "vehicle maneuvering between construction barriers",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "truck in the same lane as a bus",
+        "bicycle traveling alongside construction indicators",
+        "vehicle changing lanes near group of cyclists",
+        "bicycle behind a bus",
+        "stroller",
+        "bicycle near a bus",
+        "vehicle with multiple construction cones on the left side",
+        "bus in the same lane as a truck"
+    ],
+    "8346e544-4a73-3c88-9339-c7a21fbd3a2f": [
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle with a bicycle to its right",
+        "bicycle facing toward moving traffic",
+        "vehicle with multiple bicycles ahead",
+        "vehicle turning while pedestrian crosses with stroller",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle near multiple bollards",
+        "bicycle following closely behind a vehicle"
+    ],
+    "633addf9-441c-35e7-868a-738aa612d51c": [
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle being overtaken on the right",
         "pedestrian crossing at bollard",
-        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle being crossed by a pedestrian",
+        "box truck in bike lane",
         "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle accelerating aggressively",
-        "pedestrian walking alongside bollard",
-        "ego vehicle merging between two regular vehicles",
         "pedestrian crossing between bollards",
-        "vehicles approaching stopped school bus with children nearby",
-        "bicycle and vehicle traveling in bike lane"
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle being passed on the left by another vehicle"
     ],
-    "3e707e96-ad84-3e68-bea5-2f9ac502a2d9": [
-        "vehicle making a right turn",
-        "vehicle accelerating on intersection",
-        "any vehicle in front of stop sign",
-        "car turning right",
-        "vehicle two vehicles ahead is turning",
-        "vehicle at intersection facing another vehicle",
-        "vehicle at a stop sign",
-        "two cars back from the ego vehicle",
-        "vehicle two cars ahead is braking",
-        "vehicle being tailgated while approaching stopped traffic"
+    "b4fc7eef-819c-35a6-b937-358ffb5c2aa0": [
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle approaching stopped truck",
+        "vehicle stopped at official signaler",
+        "vehicle traveling over 20 meters per second",
+        "pedestrian to the left of a truck",
+        "ego vehicle changing lanes near construction zone",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "truck without trailer",
+        "moving pedestrian within 3 meters to the left of ego vehicle"
     ],
-    "511b93af-f16e-3195-8628-fbb972a17f74": [
-        "vehicle turning right with pedestrian in front",
-        "regular vehicle turning right",
-        "car turning right",
-        "passenger vehicle turning right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle braking near pedestrian crossing",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+    "9cdbe6f4-938f-4ac5-88f7-94a82bea715b": [
+        "bicycle on intersection",
+        "bicycle near a bus",
+        "bicycle traveling alongside construction indicators",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "vehicle passing near person in wheelchair",
+        "vehicle maneuvering between construction barriers",
+        "bicycle passing between bus and construction barrier",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "bicyclist within 3 meters on either side",
+        "vehicle turning left with a bicycle in front of it"
     ],
-    "f61bcee1-2964-3c4b-95a5-697df5f42f47": [
-        "ego vehicle approaching crossing pedestrians",
-        "bicycle following closely behind a vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle with multiple bicycles ahead",
-        "pedestrian crossing ahead of ego vehicle",
-        "multiple pedestrians crossing ahead",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
+    "9fd55542-e982-361f-814f-61ad4ad07adf": [
+        "ego vehicle approaching stopped truck",
+        "vehicle changing lanes through bike lane",
+        "vehicle near construction barrel",
+        "pedestrian with multiple dogs",
+        "vehicle stopped at construction barrel",
+        "vehicle accelerating while changing lanes",
+        "passenger vehicle near stroller in road",
+        "ego vehicle near construction barrel",
+        "vehicle changing lanes while in bike lane",
+        "box truck at stop sign"
     ],
-    "8a11791c-1d8f-3b12-bacc-38aa982b0003": [
-        "group of people",
-        "vehicle being crossed by a pedestrian",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "pedestrian walking alongside bollard",
-        "vehicle with multiple construction cones on the left side",
-        "active vehicle at stop sign",
-        "stationary object",
-        "pedestrian crossing between bollards",
-        "vehicle following another vehicle too closely",
-        "vehicle braking at pedestrian crossing"
+    "eed8593d-60e3-3e41-9fea-55f544b01749": [
+        "vehicle being passed on the left by another vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "truck changing lanes to the right",
+        "vehicle being overtaken on the left",
+        "ego vehicle near bollard",
+        "vehicle turning right at stop sign",
+        "vehicle at intersection facing another vehicle",
+        "vehicle stopped at a stop sign",
+        "vehicle at a stop sign",
+        "ego vehicle changing lanes to the left"
     ],
-    "b8d83d8e-1574-3efd-b067-a3ed422a259e": [
-        "vehicle two vehicles ahead is braking",
-        "construction item on road",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle in close proximity to bicycle",
-        "vehicle within 5 meters of a bicycle",
-        "making a left lane change while there is a vehicle to the right",
-        "stationary construction barrel",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle near construction cone",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+    "ad319b98-6faa-3648-98bd-43afdbd20020": [
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle being overtaken on the left",
+        "bus within 5 meters to either side of ego vehicle",
+        "regular vehicle turning right",
+        "vehicles being passed by a motorcycle on either side",
+        "motorcycle in the same lane as a box truck",
+        "the vehicle two cars behind the ego vehicle",
+        "city bus",
+        "pedestrian to the back-right of the ego vehicle",
+        "motorcyclist"
     ],
-    "38f30522-2d43-3ff3-a94b-84887ab1671d": [
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "multiple pedestrians crossing ahead",
-        "vehicle approaching pedestrians waiting at a crosswalk",
+    "a359e053-a350-36cf-ab1d-a7980afaffa2": [
+        "vehicle stopped at official signaler",
+        "vehicle at a stop sign",
+        "vehicle changing lanes to the right",
+        "oncoming vehicle changing lanes",
+        "vehicle two cars ahead is changing lanes",
+        "accelerating vehicle changing lanes to the right",
         "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle facing and accelerating toward pedestrian on road",
-        "vehicle turning right with pedestrian in front",
-        "ego vehicle approaching crossing pedestrians",
+        "bus changing lanes",
+        "vehicle two vehicles ahead is changing lanes",
+        "city bus"
+    ],
+    "36d7f8fb-6d47-3e1d-a1f7-b2c67ddf1f44": [
+        "motorcycle in the same lane as a box truck",
+        "group of pedestrians ahead of the ego vehicle",
+        "bus changing lanes",
+        "bus with at least 3 pedestrians within 5 meters",
+        "group of three people",
+        "school bus on intersection",
+        "unattended stroller",
+        "bicycle traveling alongside construction indicators",
         "vehicle facing and heading toward pedestrian group",
-        "bicycle facing toward moving traffic",
-        "vehicle accelerating towards pedestrian crossing"
+        "bus within 5 meters to either side of ego vehicle"
     ],
-    "5d9c1080-e6e9-3222-96a2-37ca7286a874": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle being tailgated while approaching stopped traffic",
+    "df5d0b0e-5bcb-304a-a167-18b92d0f1d45": [
+        "any vehicle in front of stop sign",
         "vehicle turning right with pedestrian in front",
-        "vehicle facing the ego vehicle",
-        "vehicle turning right with pedestrian waiting",
-        "objects getting closer to the ego vehicle",
-        "pedestrian on road not facing traffic",
         "vehicle making a right turn",
-        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle passing by parked vehicle",
+        "stopped car",
+        "vehicle with multiple bicycles ahead",
+        "regular vehicles that are stopped or nearly stopped",
+        "bicycle following closely behind a vehicle",
+        "bicycle behind a bus",
         "the vehicle two cars behind the ego vehicle"
     ],
-    "c730e199-fb8d-3abf-b7aa-bbc81bf8c08f": [
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle passing by parked vehicle",
-        "vehicle surrounded by bicycles on all sides",
-        "bicycle traveling against traffic",
-        "bicyclist within 3 meters on either side",
-        "car following closely behind bicyclist",
-        "vehicle two cars ahead is braking",
-        "pedestrian walking alongside bollard"
+    "575d8d24-ba88-3b18-84c0-df5b29dccfde": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "motorcycle between stopped vehicles",
+        "regular vehicles that are stopped or nearly stopped",
+        "motorcycle between two vehicles",
+        "vehicle at intersection facing another vehicle",
+        "vehicle facing toward parked vehicles",
+        "vehicle near construction barrel",
+        "pedestrian facing toward ego vehicle",
+        "vehicle passing near person in wheelchair",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away"
     ],
-    "194b6c89-8060-3174-b402-308f72cb1c15": [
-        "vehicle near multiple bollards",
-        "two cars back from the ego vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle two cars ahead is braking",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle accelerating on intersection",
-        "turning left",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian to the back-right of the ego vehicle"
+    "1992ed13-948e-34e6-8d9b-a3416e545a95": [
+        "vehicle maneuvering between construction barriers",
+        "pedestrian walking with stroller",
+        "bus with multiple pedestrians waiting on the right side",
+        "pedestrian with multiple dogs",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle with animal in front",
+        "bus changing lanes",
+        "vehicle two cars ahead is changing lanes",
+        "parked box trucks",
+        "pedestrian crossing in front of vehicle at crosswalk"
     ],
-    "e0d2fe70-8f98-3ce2-8d8f-4268a81f7169": [
-        "bicycle in same lane as a vehicle",
+    "3a789fb0-5cd2-3710-b8ea-f32fce38e3ca": [
+        "pedestrian on road not facing traffic",
+        "stroller",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle moving at crawling speed",
+        "car with a stroller to its left",
+        "passenger vehicle near stroller in road",
+        "group of people",
+        "lane splitting motorcycle",
+        "ego vehicle changing lanes to the left",
+        "accelerating vehicle changing lanes to the right"
+    ],
+    "8223c3d0-3b08-3889-9cdc-a88592c4bd4a": [
+        "stopped car",
+        "pedestrian facing toward ego vehicle",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian near bollard",
+        "group of three people",
+        "person",
+        "pedestrian crossing at bollard",
+        "pedestrians facing each other at close range, possibly conversing",
+        "ego vehicle near bollard",
+        "vehicle changing lanes through bike lane"
+    ],
+    "c2c0e6bc-05e5-30dd-8e5e-0e7b6106ad30": [
+        "multiple buses within 50 meters ahead",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "pedestrian crossing between bollards",
         "pedestrian facing toward the bus",
-        "bus in bus lane",
-        "car driving in bus lane",
-        "moving bus to the front-left of the ego vehicle",
-        "car following closely behind bicyclist",
-        "bicycle traveling with vehicle traffic",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle near a bus",
-        "vehicle traveling over 20 meters per second"
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "city bus",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "moving wheelchair within 5 meters of an intersection"
     ],
-    "49d76058-b4f0-3931-86fa-de160b4c1b88": [
+    "43efcbe2-fe24-35b0-9e69-b07c1b0725d3": [
+        "motorcycle overtaking a vehicle",
+        "vehicle two vehicles ahead is changing lanes",
+        "motorcycle changing lanes to the left near multiple vehicles",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
         "vehicle sharing a lane with another vehicle",
-        "vehicle following another vehicle too closely",
-        "accelerating passenger vehicle",
-        "ego vehicle following vehicle being overtaken on right",
-        "pedestrian facing toward the bus",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle facing away from the ego vehicle",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "active vehicle at stop sign"
+        "motorcyclist",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle crossing path of another vehicle",
+        "vehicles being passed by a motorcycle on either side",
+        "bicycle traveling alongside construction indicators"
     ],
-    "b2a8a9aa-19cd-3ffd-b02c-0f2a47d1d0eb": [
-        "vehicle stopped at a stop sign",
-        "vehicle two vehicles ahead is braking",
-        "active vehicle at stop sign",
-        "vehicle at a stop sign",
-        "a group of people",
+    "e574050e-f787-3186-9686-2e9aca8102a0": [
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "stopped vehicles at intersection being crossed by pedestrians",
         "the vehicle two cars behind the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "group of people",
-        "vehicle being tailgated while approaching stopped traffic",
-        "ego vehicle approaching crossing pedestrians"
-    ],
-    "931b76ee-63df-36f6-9f2e-7fb16f2ee721": [
-        "stroller",
-        "bus with multiple pedestrians waiting on the right side",
-        "bicycle near traffic cone",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrians using designated crossing",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "pedestrian crossing at bollard",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
         "pedestrian walking alongside bollard",
-        "pedestrian walking with stroller",
-        "pedestrian walking alongside stopped bus",
-        "bicycle traveling against traffic",
-        "vehicle changing lanes through bike lane"
+        "pedestrian crossing between bollards",
+        "passenger vehicle swerving left",
+        "vehicle changing lanes while on an intersection"
     ],
-    "2b443c95-d55f-3cc4-a2a1-ae4af293d8d9": [
-        "pedestrian near stop sign",
-        "ego vehicle changing lanes near construction zone",
-        "box truck braking in front of ego vehicle",
-        "ego vehicle changing lanes to the left",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "stop sign behind a pedestrian",
-        "ego vehicle near construction barrel",
-        "vehicle turning right near construction zone",
+    "b29b43d7-3af9-363e-aaeb-8805d958f982": [
+        "pedestrians over 30 meters away",
+        "passenger vehicle near stroller in road",
         "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicles being passed by a motorcycle on either side"
-    ],
-    "ce34ff64-0faa-3fae-a79e-985f7a5172c9": [
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "school bus at pedestrian crossing",
-        "two cars back from the ego vehicle",
-        "vehicle changing lanes while in bike lane",
-        "school bus on intersection",
+        "motorcycle changing lanes to the left near multiple vehicles",
+        "vehicle at intersection facing another vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "person",
+        "vehicle stopped at official signaler",
         "ego vehicle near bollard",
-        "ego vehicle near construction cone",
-        "vehicle changing lanes through bike lane",
+        "ego vehicle passing official signaler"
+    ],
+    "a9a24c80-600f-3f85-b4d9-a70ceccad385": [
+        "box truck changing lanes to the right",
+        "person",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrians using designated crossing",
+        "vehicle with animal in front",
+        "pedestrian walking past right side of vehicle",
+        "pedestrian near stop sign",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "stop sign behind a pedestrian"
+    ],
+    "19711b73-c43b-3922-be61-8c44df707a7d": [
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "group of people",
+        "jaywalking pedestrian",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "bicycle on intersection",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle two vehicles ahead is at a stop sign"
+    ],
+    "460324ea-c769-38db-bba9-044643c8780e": [
+        "multiple pedestrians crossing ahead",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "pedestrian approaching a parked vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "any vehicle in front of stop sign",
+        "traffic officer in roadway",
+        "stroller",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
         "vehicle two cars ahead is being crossed by a pedestrian",
-        "ego vehicle merging between two regular vehicles"
+        "vehicle at a stop sign"
     ],
-    "441871a2-a9c5-3048-b7e9-d88af5acb8f1": [
-        "vehicle making a right turn",
-        "passenger vehicle turning left at intersection",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle following another vehicle too closely",
-        "passenger vehicle turning right",
+    "7c30c3fc-ea17-38d8-9c52-c75ccb112253": [
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle being overtaken on the right",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "truck without trailer",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "motorcycle near construction cone",
+        "motorcyclist braking hard",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle hard braking with another vehicle ahead"
+    ],
+    "74648e09-358d-3183-9b40-278620befa40": [
+        "accelerating passenger vehicle",
+        "active vehicle at stop sign",
         "car turning right",
-        "vehicle being passed on the left by another vehicle",
-        "truck sharing a lane with another truck",
-        "moving bus to the front-left of the ego vehicle"
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle moving at crawling speed",
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle passing school bus at stop",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle two vehicles ahead is braking",
+        "city bus"
     ],
-    "d6ba4898-1369-3521-981c-b9ac57420418": [
-        "vehicle facing toward parked vehicles",
-        "bicycle facing toward a vehicle",
-        "object that hasn't moved",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle facing away from the ego vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle following another vehicle too closely"
+    "945f3b20-778a-3581-adef-544de4a089ef": [
+        "vehicle turning right near construction zone",
+        "vehicle traveling over 20 meters per second",
+        "vehicle two vehicles ahead is braking",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "group of people",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "ego vehicle two cars ahead of another vehicle",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle approaching pedestrians waiting at a crosswalk"
     ],
-    "ec3133b4-2b17-3d49-b78a-4bc480ac5137": [
-        "pedestrian near stop sign",
-        "pedestrian with multiple dogs",
-        "vehicle braking near pedestrian crossing",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle braking at pedestrian crossing",
-        "stop sign behind a pedestrian",
-        "truck on intersection",
+    "7c539ecc-658a-3956-a9a4-6e7f5bd67373": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicycle passing by parked vehicle",
         "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian near construction cone",
-        "motorcycle at stop sign"
-    ],
-    "a3f59292-ad1d-370a-afde-64a9e16b341c": [
-        "vehicle turning right with pedestrian in front",
-        "vehicle at a stop sign",
-        "vehicle near construction barrel",
-        "active vehicle at stop sign",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle within 5 meters of a bicycle",
-        "ego vehicle changing lanes to the left",
-        "pedestrian near stop sign",
+        "ego vehicle approaching crossing pedestrians",
         "vehicle approaching pedestrians waiting at a crosswalk",
-        "bicycle facing toward moving traffic"
+        "bus in the same lane as a truck",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle changing lanes to the right",
+        "truck without trailer",
+        "multiple pedestrians crossing ahead"
     ],
-    "75449af9-61a5-3a4f-95ec-3a3dc35b4cbb": [
+    "b8a5a7a9-1c4f-4f2e-96a6-565e727b24d0": [
+        "construction item on road",
+        "vehicle braking at pedestrian crossing",
+        "pedestrian walking past right side of vehicle",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "vehicle accelerating while changing lanes",
         "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle turning near group of cyclists",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle turning left with a bicycle in front of it",
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle turning left while bicycle crosses from right",
-        "ego vehicle following vehicle being overtaken on right",
+        "vehicle turning right near construction zone",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle to the back right of the ego vehicle"
+    ],
+    "9eb87a0b-2457-359d-b958-81e8583d8e44": [
+        "bicycle in same lane as a vehicle",
+        "bicycle on intersection",
+        "multiple buses within 50 meters ahead",
+        "bicycle near a bus",
+        "bicycle behind a bus",
+        "bus with another bus in its lane",
         "bus within 5 meters to either side of ego vehicle",
-        "ego vehicle following bicycle closely"
+        "pedestrian walking with dog on sidewalk",
+        "bicycle crossing vehicle path at intersection",
+        "moving wheelchair within 5 meters of an intersection"
     ],
-    "a160c635-aa67-352c-a5e6-03b113493090": [
-        "regular vehicle turning right",
-        "group of pedestrians ahead of the ego vehicle",
-        "a group of people",
-        "vehicle turning right with pedestrian waiting",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle accelerating towards pedestrian crossing",
+    "1e51a567-b416-3c46-9424-05688ff851f7": [
         "pedestrian walking alongside stopped bus",
-        "city bus",
-        "motorcycle in the same lane as an articulated bus",
-        "articulated bus in the same lane as a wheeled device"
+        "stroller in the same lane as a regular vehicle",
+        "stroller",
+        "bus with multiple pedestrians waiting on the right side",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "ego vehicle near stroller on sidewalk",
+        "bus with at least 3 pedestrians within 5 meters",
+        "passenger vehicle near stroller in road",
+        "vehicle turning right next to pedestrian with stroller",
+        "car with a stroller to its left"
     ],
-    "3844f8a9-b7d4-4919-8e9b-a0370ad29ec0": [
-        "vehicle turning right with pedestrian waiting",
-        "vehicle at a stop sign",
-        "vehicle stopped at a stop sign",
-        "bicycle passing by parked vehicle",
-        "bicycle facing toward moving traffic",
-        "vehicle turning right at stop sign",
-        "bicycle traveling alongside parked vehicles",
-        "ego vehicle near bollard",
-        "bicycle being overtaken",
-        "group of at least 3 moving bicyclists within 5 meters of each other"
+    "fdc0f552-4976-36a6-8691-9a8c6a5ba389": [
+        "motorcycle in bike lane",
+        "vehicle being overtaken while approaching another vehicle",
+        "truck on intersection",
+        "bicyclist riding in vehicle lane",
+        "pedestrian walking past right side of vehicle",
+        "two cars back from the ego vehicle",
+        "vehicle at intersection facing another vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "dog on roadway"
     ],
-    "f4d1a3c3-5002-336b-a67f-775b3725237e": [
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle with multiple bicycles ahead",
-        "railed vehicle",
-        "ego vehicle near bollard",
-        "vehicle two vehicles ahead is changing lanes",
+    "e40d67c5-3749-397e-aa2a-7dfe576a31b0": [
+        "bicycle traveling alongside construction indicators",
         "vehicle two cars ahead is being crossed by a pedestrian",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle two cars ahead is changing lanes",
-        "bicycle on intersection",
-        "vehicle turning right with pedestrian waiting"
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle accelerating while changing lanes",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle accelerating towards pedestrian crossing"
     ],
-    "a98c14bf-bf01-3ae5-992d-ea9f0a18e3c7": [
-        "passenger vehicle swerving left",
+    "7da33189-2698-3a98-b038-b0e5a271ee96": [
         "vehicle in close proximity to bicycle",
-        "ego vehicle near construction cone",
-        "vehicle two cars ahead is changing lanes",
-        "pedestrian walking with dog on sidewalk",
-        "any vehicle in front of stop sign",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "bicycle following closely behind a vehicle",
+        "vehicle navigating near multiple bicycles",
         "vehicle with a bicycle to its right",
-        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle turning at intersection with nearby pedestrians",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "ego vehicle approaching stopped truck",
+        "vehicle within 5 meters of a bicycle",
+        "box truck braking in front of ego vehicle"
+    ],
+    "fb720691-1736-3fa2-940b-07b97603efc6": [
+        "any vehicle in front of stop sign",
         "vehicle approaching multiple pedestrians at crosswalk",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+        "pedestrian near bollard",
+        "vehicle changing lanes while on an intersection",
+        "vehicle braking heavily",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian walking alongside bollard",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle being crossed by a pedestrian",
+        "making a left lane change while there is a vehicle to the right"
     ],
-    "6dc6e668-549e-33b8-b952-ed8e807b1d48": [
-        "bicycle near a bus",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian facing toward the bus",
-        "bicycle near traffic cone",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "group of three people",
-        "multiple buses within 50 meters ahead",
-        "pedestrian walking alongside stopped bus",
+    "069cc46d-38bb-309d-88cf-296a3d0c0820": [
+        "motorcycle between stopped vehicles",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle changing lanes to the left",
+        "left lane change while there is a vehicle to the left",
+        "vehicle being crossed by a pedestrian",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle braking near jaywalking pedestrian or stroller"
+    ],
+    "285dcef7-9f00-3c9c-baca-6c8269210ac4": [
+        "person",
+        "vehicle stopped at construction barrel",
+        "vehicle with multiple construction cones on the left side",
+        "two cars back from the ego vehicle",
+        "box truck near at least 3 construction cones",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "stationary construction barrel",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle maneuvering between construction barriers"
+    ],
+    "98fd128c-4f32-40fc-a23c-7feb50c4478a": [
+        "vehicle accelerating towards pedestrian crossing",
+        "pedestrian near construction cone",
+        "bicyclist on intersection",
+        "car driving in bus lane",
+        "ego vehicle changing lanes near construction zone",
+        "motorcyclist",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "box truck with multiple construction cones to its right",
+        "ego vehicle following vehicle being overtaken on right",
+        "box truck near at least 3 construction cones"
+    ],
+    "74dd5c1d-7a9a-32d1-903a-fc57e07109b9": [
+        "group of people",
+        "vehicle turning at intersection with nearby pedestrians",
         "vehicle approaching pedestrians waiting at a crosswalk",
-        "ego vehicle changing lanes near bicycle while approaching stop sign"
+        "ego vehicle approaching pedestrian at crosswalk",
+        "pedestrian walking with stroller",
+        "jaywalking pedestrian",
+        "group of pedestrians ahead of the ego vehicle",
+        "stopped car",
+        "active vehicle at stop sign",
+        "bicycle facing toward a vehicle"
+    ],
+    "dc3d4b79-6cd8-324b-bc70-cbd0e2a066da": [
+        "vehicle crossing path of another vehicle",
+        "vehicle facing toward parked vehicles",
+        "vehicle being tailgated while approaching stopped traffic",
+        "active vehicle at stop sign",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle being overtaken on the right",
+        "vehicle maneuvering between construction barriers",
+        "vehicle with multiple construction cones on the left side",
+        "two cars back from the ego vehicle",
+        "vehicle two cars ahead is braking"
     ],
-    "b8ce75e5-c1d2-3447-9249-70ab3d42389f": [
-        "vehicle with a bicycle to its right",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian walking past right side of vehicle",
-        "vehicle near multiple bollards",
+    "caabc342-aed4-3104-8195-7461a4add481": [
         "ego vehicle with vehicles on both sides",
-        "pedestrians facing each other at close range, possibly conversing",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "a group of people",
-        "pedestrian approaching a parked vehicle",
-        "group of three people"
+        "parked box trucks",
+        "passenger vehicle turning right",
+        "vehicle facing toward parked vehicles",
+        "vehicle making a right turn",
+        "moving bus to the front-left of the ego vehicle",
+        "two cars back from the ego vehicle",
+        "car driving in bus lane",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle near construction cone"
     ],
-    "150ae964-5091-3681-b738-88715052c792": [
-        "pedestrian to the left of a truck",
-        "bus in the same lane as a truck",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "truck sharing a lane with another truck",
+    "9441ffdd-f06e-36e0-839e-b836b0f19bc9": [
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle two vehicles ahead is turning",
         "truck changing lanes to the right",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "truck in the same lane as a bus",
-        "vehicle getting passed from the right",
-        "moving bus to the front-left of the ego vehicle"
+        "bicycle in same lane as a vehicle",
+        "bicycle near traffic cone",
+        "bicyclist on intersection",
+        "ego vehicle two cars ahead of another vehicle",
+        "bicycle traveling with vehicle traffic",
+        "bicycle facing toward moving traffic",
+        "stroller in the same lane as a regular vehicle"
     ],
-    "3b60751b-7a71-3a47-a743-96b96f0d9b2b": [
+    "6180bbb1-95ce-381b-ba17-5411c5712824": [
+        "vehicle being crossed by a pedestrian",
+        "motorcyclist",
+        "lane splitting motorcycle",
+        "bicyclist on intersection",
+        "vehicle turning left with a bicycle in front of it",
+        "moving bus to the front-left of the ego vehicle",
+        "bicycle on intersection",
         "bus in bus lane",
-        "car driving in bus lane",
-        "pedestrian walking with stroller",
-        "stroller",
-        "pedestrian crossing at bollard",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "unattended stroller",
-        "bus with multiple strollers in front"
+        "city bus",
+        "pedestrian walking between construction barriers with approaching vehicle"
     ],
-    "f6350a4f-eee8-31bd-8520-28f9c81c98a8": [
+    "2fff4135-98ec-3b82-a330-b73d8afdf36c": [
+        "vehicle being crossed by a pedestrian",
+        "vehicle accelerating while changing lanes",
+        "pedestrian near construction cone",
+        "bus with another bus in its lane",
+        "lane splitting motorcycle",
         "unattended stroller",
-        "bicycle near a bus",
-        "vehicle at a stop sign",
-        "bicycle behind a bus",
-        "moving bus to the front-left of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus with multiple strollers in front",
-        "bus with at least 3 pedestrians within 5 meters",
-        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
-        "bicyclist changing lanes to the right"
+        "vehicle braking heavily",
+        "stroller",
+        "pedestrian facing toward the bus",
+        "motorcycle near construction cone"
     ],
-    "8feb3dbe-4450-3aeb-b22b-e65128aa696b": [
-        "ego vehicle near construction cone",
-        "motorcyclist",
-        "multiple motorcycles ahead of the ego vehicle",
-        "ego vehicle with vehicles on both sides",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle facing the ego vehicle",
+    "eb222d5d-0052-3ce7-9b87-19e09054a2c0": [
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle navigating near multiple bicycles",
+        "vehicle with multiple bicycles ahead",
         "motorcyclist braking hard",
-        "pedestrian crossing between bollards",
-        "vehicle two cars ahead is changing lanes",
-        "group of people"
-    ],
-    "63f32613-2856-4ab0-898d-f881d74eb8bf": [
-        "stationary object",
-        "vehicle facing away from the ego vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "truck on intersection",
-        "vehicle facing the ego vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle changing lanes",
-        "pedestrian walking past right side of vehicle",
-        "vehicle being overtaken on the right",
-        "pedestrian crossing between bollards"
+        "ego vehicle with parked bicycles ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "motorcycle between stopped vehicles",
+        "motorcycle between two vehicles",
+        "group of three people",
+        "multiple buses within 50 meters ahead"
     ],
-    "e743b441-ea8a-36d7-8124-f14dfa13a0e6": [
-        "vehicle with multiple pedestrians to the left",
-        "vehicle being passed on the left by another vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle braking near jaywalking pedestrian or stroller",
+    "988ab841-c422-3d08-bb52-a09f8fdb6ab2": [
         "vehicle moving at crawling speed",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian between moving vehicles on both sides",
-        "bicycle following closely behind a vehicle",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "passenger vehicle turning left at intersection",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "accelerating passenger vehicle",
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle turning left",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian facing toward ego vehicle",
         "moving bus being crossed by a bicycle"
     ],
-    "806d3ab3-4c53-30d6-ba6a-09ef6df5af5a": [
-        "vehicle within 5 meters of a bicycle",
-        "stationary construction barrel",
-        "ego vehicle with parked bicycles ahead",
-        "left lane change while there is a vehicle to the left",
-        "stop sign behind a pedestrian",
-        "jaywalking pedestrian",
-        "vehicle with a bicycle to its right",
-        "pedestrian near stop sign",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle near mobile pedestrian sign"
+    "841fe537-5e76-3b3a-8298-75fa1a41a14b": [
+        "ego vehicle merging between two regular vehicles",
+        "vehicle stopped at official signaler",
+        "school bus on intersection",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "ego vehicle passing official signaler",
+        "vehicle being overtaken on the right",
+        "school bus at pedestrian crossing",
+        "vehicle getting passed from the right",
+        "ego vehicle approaching crossing pedestrians"
     ],
-    "40bfcbec-ec59-3731-8e75-67f0bddc3b01": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle at a stop sign",
-        "any vehicle in front of stop sign",
-        "vehicle following another vehicle too closely",
-        "a group of people",
-        "bicycle near traffic cone",
-        "pedestrians facing each other at close range, possibly conversing",
+    "823371b1-3197-35d6-a6b7-bfd432e10440": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle turning left",
+        "pedestrian crossing ahead of ego vehicle",
         "passenger vehicle turning left at intersection",
-        "bicycle in same lane as a vehicle",
-        "vehicle passing bicycle near mobile pedestrian sign"
+        "vehicle turning while pedestrian crosses with stroller",
+        "box trucks within 10 meters of an intersection",
+        "motorcycle between stopped vehicles",
+        "pedestrian near bollard",
+        "vehicle traveling in the opposite direction as the ego vehicle"
     ],
-    "79f3de22-c643-3e97-96d5-f77274a458c0": [
-        "vehicle with multiple pedestrians to the left",
-        "ego vehicle approaching pedestrian at crosswalk",
+    "05853f69-f948-3d04-8d64-d4e721c0e1a5": [
+        "vehicle passing stopped truck with pedestrian nearby",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle two cars ahead is changing lanes",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "pedestrian between moving vehicles on both sides",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle two vehicles ahead is changing lanes",
+        "box truck braking in front of ego vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead"
+    ],
+    "62a1e53b-b55c-36c2-bc5b-e216d494875a": [
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle passing near person in wheelchair",
+        "parked box trucks",
+        "pedestrian to the left of a truck",
+        "truck sharing a lane with another truck",
         "vehicle turning right with pedestrian waiting",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle turning right with pedestrian in front",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "ego vehicle following vehicle being overtaken on right",
-        "passenger vehicle turning right",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
+        "bicycle facing toward moving traffic",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "pedestrian with wheelchair at crosswalk"
     ],
     "545ea917-a910-3013-a3f1-52a86dd6c8b1": [
-        "vehicle at intersection facing another vehicle",
-        "objects getting closer to the ego vehicle",
-        "passenger vehicle turning left at intersection",
-        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle two cars ahead is braking",
         "pedestrian on road not facing traffic",
-        "vehicle maneuvering between construction barriers",
-        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle turning left with a bicycle in front of it",
+        "moving wheelchair within 5 meters of an intersection",
+        "pedestrian near construction cone",
         "pedestrian crossing in front of cyclist near intersection",
-        "vehicle accelerating while changing lanes",
-        "stopped vehicles at intersection being crossed by pedestrians"
+        "dog near pedestrian",
+        "pedestrian facing toward the bus",
+        "vehicle maneuvering between construction barriers",
+        "vehicle passing stopped truck with pedestrian nearby"
     ],
     "49e970c4-7364-33cb-a298-ead218e9a705": [
-        "bicycle in same lane as a vehicle",
+        "vehicle two vehicles ahead is turning",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle two cars ahead is changing lanes",
+        "bicycle traveling alongside parked vehicles",
+        "box truck changing lanes to the right",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
         "dog",
-        "ego vehicle with vehicles on both sides",
-        "pedestrian walking past right side of vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "vehicle with multiple pedestrians to the left"
+    ],
+    "79f3de22-c643-3e97-96d5-f77274a458c0": [
+        "vehicle turning right near construction zone",
+        "vehicle turning right with pedestrian waiting",
+        "motorcycle in the same lane as a box truck",
+        "pedestrians using designated crossing",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle being crossed by a pedestrian",
+        "vehicle getting passed from the right",
+        "ego vehicle near construction cone",
+        "vehicle two vehicles ahead is turning",
+        "vehicle turning left"
+    ],
+    "806d3ab3-4c53-30d6-ba6a-09ef6df5af5a": [
+        "truck in the same lane as a bus",
+        "vehicle in close proximity to bicycle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle with a bicycle to its right",
+        "motorcyclist",
+        "vehicle accelerating while changing lanes",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle being crossed by a pedestrian"
+    ],
+    "40bfcbec-ec59-3731-8e75-67f0bddc3b01": [
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "car turning right",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle approaching stopped truck",
-        "pedestrian crossing ahead of ego vehicle"
+        "pedestrians facing each other at close range, possibly conversing",
+        "motorcycle between stopped vehicles",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle near traffic cone",
+        "vehicle being crossed by a pedestrian",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle stopped at a stop sign"
     ],
-    "62a1e53b-b55c-36c2-bc5b-e216d494875a": [
-        "pedestrian to the left of a truck",
-        "vehicle passing near person in wheelchair",
+    "e743b441-ea8a-36d7-8124-f14dfa13a0e6": [
+        "school bus at pedestrian crossing",
         "pedestrian with wheelchair at crosswalk",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle turning right with pedestrian waiting",
-        "truck sharing a lane with another truck",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "wheelchair user at pedestrian crossing"
+        "school bus on intersection",
+        "vehicle passing near person in wheelchair",
+        "bicycle traveling alongside construction indicators",
+        "car driving in bus lane",
+        "wheelchair user at pedestrian crossing",
+        "bicycle near school bus",
+        "moving wheelchair within 5 meters of an intersection",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing"
     ],
-    "05853f69-f948-3d04-8d64-d4e721c0e1a5": [
-        "group of three people",
-        "ego vehicle near construction cone",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "box truck braking in front of ego vehicle",
+    "63f32613-2856-4ab0-898d-f881d74eb8bf": [
+        "person",
+        "pedestrian near construction cone",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "pedestrian facing toward ego vehicle",
+        "vehicle turning at intersection with nearby pedestrians",
+        "pedestrians over 30 meters away",
+        "pedestrians using designated crossing",
         "parked box trucks",
-        "bicycle traveling with vehicle traffic",
-        "pedestrian approaching a parked vehicle"
+        "pedestrian on intersection not using a crosswalk"
     ],
-    "823371b1-3197-35d6-a6b7-bfd432e10440": [
-        "passenger vehicle turning right",
-        "passenger vehicle turning left at intersection",
-        "active vehicle at stop sign",
-        "object that hasn't moved",
-        "box trucks within 10 meters of an intersection",
-        "vehicle facing the ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "vehicle turning right at stop sign",
-        "ego vehicle with vehicles on both sides",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+    "f6350a4f-eee8-31bd-8520-28f9c81c98a8": [
+        "pedestrian to the back-right of the ego vehicle",
+        "ego vehicle near stroller on sidewalk",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle navigating near multiple bicycles",
+        "dog near an intersection",
+        "stroller",
+        "unattended stroller",
+        "pedestrian turning and watching the ego vehicle",
+        "bus with multiple strollers in front",
+        "bicycle behind a bus"
     ],
-    "841fe537-5e76-3b3a-8298-75fa1a41a14b": [
-        "active vehicle at stop sign",
-        "pedestrian facing toward ego vehicle",
+    "8feb3dbe-4450-3aeb-b22b-e65128aa696b": [
         "motorcyclist",
-        "vehicle getting passed from the right",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "ego vehicle near bollard",
         "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "parked vehicle",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle with multiple bicycles ahead"
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian crossing between bollards",
+        "ego vehicle near construction cone",
+        "bicyclist within 3 meters on either side",
+        "multiple motorcycles ahead of the ego vehicle",
+        "car turning right",
+        "vehicle to the back right of the ego vehicle",
+        "pedestrian near bollard"
     ],
-    "eb222d5d-0052-3ce7-9b87-19e09054a2c0": [
-        "bicycle on intersection",
-        "vehicle stopped at construction barrel",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle with multiple bicycles ahead",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle two cars ahead is changing lanes",
-        "group of three people",
-        "motorcycle between stopped vehicles",
-        "bicycle behind a bus",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+    "3b60751b-7a71-3a47-a743-96b96f0d9b2b": [
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "pedestrian walking with stroller",
+        "bus with multiple pedestrians waiting on the right side",
+        "bus with at least 3 pedestrians within 5 meters",
+        "multiple pedestrians crossing ahead",
+        "bus in bus lane",
+        "box truck changing lanes ahead",
+        "car driving in bus lane",
+        "stroller",
+        "vehicle turning right at stop sign"
     ],
-    "988ab841-c422-3d08-bb52-a09f8fdb6ab2": [
+    "150ae964-5091-3681-b738-88715052c792": [
+        "pedestrian to the left of a truck",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "bus with multiple pedestrians waiting on the right side",
+        "bicycle traveling against traffic",
+        "vehicle accelerating more than two meters per second",
+        "truck in the same lane as a bus",
+        "accelerating truck",
         "the vehicle two cars behind the ego vehicle",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "pedestrians using designated crossing",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle two cars ahead of another vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "bus in bus lane"
+        "truck sharing a lane with another truck",
+        "bus in the same lane as a truck"
     ],
-    "2fff4135-98ec-3b82-a330-b73d8afdf36c": [
-        "vehicle turning right with pedestrian waiting",
-        "motorcycle near construction cone",
-        "pedestrian near construction cone",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+    "b8ce75e5-c1d2-3447-9249-70ab3d42389f": [
+        "vehicle navigating near multiple bicycles",
+        "vehicle two vehicles ahead is braking",
+        "passenger vehicle turning left at intersection",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "bicycle traveling against traffic",
         "lane splitting motorcycle",
-        "unattended stroller",
-        "stroller",
-        "vehicle turning while pedestrian crosses with stroller",
-        "passenger vehicle near stroller in road"
-    ],
-    "6180bbb1-95ce-381b-ba17-5411c5712824": [
-        "box truck braking in front of ego vehicle",
         "vehicle braking near pedestrian crossing",
-        "vehicle braking at pedestrian crossing",
-        "bus in bus lane",
-        "car following closely behind bicyclist",
-        "motorcyclist",
-        "box trucks within 10 meters of an intersection",
-        "bicycle passing by parked vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "lane splitting motorcycle"
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller"
     ],
-    "9441ffdd-f06e-36e0-839e-b836b0f19bc9": [
-        "bicycle traveling alongside parked vehicles",
-        "bicycle near traffic cone",
-        "bicycle sharing lane as a regular vehicle",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "bicycle traveling with vehicle traffic",
+    "6dc6e668-549e-33b8-b952-ed8e807b1d48": [
+        "ego vehicle approaching construction zone with traffic controller",
+        "multiple buses within 50 meters ahead",
+        "vehicle turning left with a bicycle in front of it",
+        "pedestrian walking alongside stopped bus",
+        "bicycle near a bus",
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "moving bus to the front-left of the ego vehicle",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "bicycle near traffic cone"
+    ],
+    "a98c14bf-bf01-3ae5-992d-ea9f0a18e3c7": [
+        "vehicle two cars ahead is changing lanes",
+        "pedestrian near construction cone",
         "truck without trailer",
-        "truck changing lanes to the right",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "vehicle approaching stopped vehicle at intersection"
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle accelerating while changing lanes",
+        "vehicle at a stop sign",
+        "vehicle in close proximity to bicycle",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle being overtaken while approaching another vehicle"
     ],
-    "caabc342-aed4-3104-8195-7461a4add481": [
-        "two cars back from the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "stationary object",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle facing away from the ego vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle at intersection facing another vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+    "f4d1a3c3-5002-336b-a67f-775b3725237e": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "stroller",
+        "making a left lane change while there is a vehicle to the right",
+        "railed vehicle",
+        "vehicle two cars ahead is changing lanes",
+        "ego vehicle near bollard",
+        "pedestrian on intersection not using a crosswalk",
+        "oncoming vehicle changing lanes",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle with multiple construction cones on the left side"
     ],
-    "dc3d4b79-6cd8-324b-bc70-cbd0e2a066da": [
-        "vehicle two vehicles ahead is braking",
-        "vehicle with multiple construction cones on the left side",
-        "ego vehicle two cars ahead of another vehicle",
-        "object that hasn't moved",
-        "vehicle two cars ahead is braking",
-        "truck without trailer",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "group of three people",
-        "truck cab with trailer sharing lane with regular vehicle"
+    "3844f8a9-b7d4-4919-8e9b-a0370ad29ec0": [
+        "ego vehicle near construction cone",
+        "ego vehicle near bollard",
+        "vehicle stopped at a stop sign",
+        "ego vehicle with vehicles on both sides",
+        "vehicle turning right at stop sign",
+        "moving wheelchair within 5 meters of an intersection",
+        "bicycle passing by parked vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "bicyclist riding in vehicle lane",
+        "bicycle facing toward moving traffic"
     ],
-    "74dd5c1d-7a9a-32d1-903a-fc57e07109b9": [
-        "regular vehicles that are stopped or nearly stopped",
-        "stationary object",
-        "group of people",
-        "car turning right",
-        "vehicle turning right with pedestrian in front",
-        "stopped car",
-        "passenger vehicle turning right",
+    "a160c635-aa67-352c-a5e6-03b113493090": [
+        "ego vehicle passing official signaler",
         "vehicle turning right with pedestrian waiting",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle with a bicycle to its right"
+        "pedestrian between moving vehicles on both sides",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "pedestrian walking alongside stopped bus",
+        "vehicle approaching stopped vehicle at intersection",
+        "city bus",
+        "vehicle being overtaken on the left",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "group of pedestrians ahead of the ego vehicle"
     ],
-    "98fd128c-4f32-40fc-a23c-7feb50c4478a": [
-        "bicyclist riding in vehicle lane",
-        "box truck near at least 3 construction cones",
-        "box truck with multiple construction cones to its right",
+    "75449af9-61a5-3a4f-95ec-3a3dc35b4cbb": [
+        "group of people",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
         "car following closely behind bicyclist",
-        "ego vehicle with box truck ahead and motorcycle behind",
-        "box truck braking in front of ego vehicle",
-        "bicycle on intersection",
-        "ego vehicle following vehicle that is being overtaken on the right",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "dog",
+        "vehicle turning left with a bicycle in front of it",
+        "bicycle crossing vehicle path at intersection",
+        "vehicle turning left while bicycle crosses from right",
+        "vehicle near message board trailer",
+        "ego vehicle approaching cyclist in same lane"
+    ],
+    "a3f59292-ad1d-370a-afde-64a9e16b341c": [
+        "vehicle turning right with pedestrian waiting",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle near construction barrel",
+        "pedestrian with multiple dogs",
+        "ego vehicle changing lanes to the left",
         "active vehicle at stop sign",
-        "vehicle turning right with pedestrian in front"
+        "truck without trailer",
+        "ego vehicle near construction barrel",
+        "ego vehicle changing lanes near construction zone",
+        "vehicle stopped at a stop sign"
     ],
-    "285dcef7-9f00-3c9c-baca-6c8269210ac4": [
-        "construction item on road",
-        "vehicle stopped at construction barrel",
-        "vehicle with multiple construction cones on the left side",
+    "d6ba4898-1369-3521-981c-b9ac57420418": [
+        "vehicle at a stop sign",
+        "pedestrian near construction cone",
+        "vehicle facing toward parked vehicles",
+        "objects getting closer to the ego vehicle",
+        "stop sign behind a pedestrian",
         "construction barrel with at least 2 construction cones within 3 meters",
-        "stationary construction barrel",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle maneuvering between construction barriers",
-        "vehicle within 5 meters of a bicycle",
-        "bicycle facing toward a vehicle"
-    ],
-    "069cc46d-38bb-309d-88cf-296a3d0c0820": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle hard braking with another vehicle ahead",
-        "making a left lane change while there is a vehicle to the right",
-        "left lane change while there is a vehicle to the left",
-        "ego vehicle changing lanes to the left",
-        "vehicle being crossed by a pedestrian",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle braking near pedestrian crossing",
-        "vehicle between two bicycles while on pedestrian crossing"
+        "vehicle turning left with a bicycle in front of it",
+        "pedestrian with wheelchair at crosswalk",
+        "parked box trucks",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away"
     ],
-    "fb720691-1736-3fa2-940b-07b97603efc6": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle braking near pedestrian crossing",
+    "ec3133b4-2b17-3d49-b78a-4bc480ac5137": [
+        "vehicle with animal in front",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
         "making a left lane change while there is a vehicle to the right",
-        "vehicle with a bicycle to its right",
-        "vehicle braking at pedestrian crossing",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "left lane change while there is a vehicle to the left",
-        "vehicle near multiple bollards",
-        "vehicle two vehicles ahead is turning",
-        "passenger vehicle turning right"
+        "vehicle turning while pedestrian crosses with stroller",
+        "pedestrian on intersection not using a crosswalk",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "oncoming vehicle changing lanes",
+        "pedestrian with multiple dogs",
+        "dog"
     ],
-    "7da33189-2698-3a98-b038-b0e5a271ee96": [
-        "ego vehicle with parked bicycles ahead",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two cars ahead is changing lanes",
-        "left lane change while there is a vehicle to the left",
-        "passenger vehicle swerving left",
-        "vehicle changing lanes to the right",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "bicycle and vehicle traveling in bike lane",
-        "vehicle being tailgated while approaching stopped traffic"
+    "441871a2-a9c5-3048-b7e9-d88af5acb8f1": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "passenger vehicle turning right",
+        "wheelchair user at pedestrian crossing",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle crossing path of another vehicle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "accelerating passenger vehicle",
+        "vehicle near construction barrel",
+        "vehicle approaching stopped vehicle at intersection"
     ],
-    "e40d67c5-3749-397e-aa2a-7dfe576a31b0": [
+    "2b443c95-d55f-3cc4-a2a1-ae4af293d8d9": [
+        "pedestrian on intersection not using a crosswalk",
+        "regular vehicle turning right",
+        "pedestrians over 30 meters away",
+        "ego vehicle changing lanes to the left",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "ego vehicle changing lanes near construction zone",
+        "truck on intersection",
+        "stationary construction barrel",
         "vehicle stopped at construction barrel",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle two cars ahead is braking",
-        "construction item on road",
-        "passenger vehicle turning right",
-        "multiple buses within 50 meters ahead"
+        "vehicle near construction barrel"
     ],
-    "fdc0f552-4976-36a6-8691-9a8c6a5ba389": [
-        "vehicle braking heavily",
-        "pedestrian walking with dog on sidewalk",
-        "accelerating truck",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle accelerating on intersection",
-        "dog on roadway",
-        "dog near an intersection",
-        "vehicle crossing path of another vehicle",
-        "ego vehicle following bicycle closely",
-        "vehicle braking at pedestrian crossing"
+    "ce34ff64-0faa-3fae-a79e-985f7a5172c9": [
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian near stop sign",
+        "vehicle in close proximity to bicycle",
+        "pedestrians using designated crossing",
+        "the active vehicle in front of the vehicle ahead",
+        "two cars back from the ego vehicle",
+        "the vehicle two cars in front of the ego vehicle",
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle approaching construction zone with traffic controller",
+        "vehicle surrounded by bicycles on all sides"
     ],
-    "1e51a567-b416-3c46-9424-05688ff851f7": [
+    "931b76ee-63df-36f6-9f2e-7fb16f2ee721": [
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian walking alongside bollard",
         "pedestrian walking alongside stopped bus",
-        "bus with multiple pedestrians waiting on the right side",
-        "passenger vehicle near stroller in road",
-        "ego vehicle near stroller on sidewalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "bus with at least 3 pedestrians within 5 meters",
-        "car with a stroller to its left",
+        "bicycle near traffic cone",
+        "bicycle behind a bus",
+        "pedestrian walking with stroller",
         "stroller",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being overtaken while approaching another vehicle"
+        "vehicle turning right with pedestrian in front",
+        "bus with multiple pedestrians waiting on the right side",
+        "pedestrian on road not facing traffic"
     ],
-    "9eb87a0b-2457-359d-b958-81e8583d8e44": [
-        "vehicle accelerating aggressively",
-        "bus with another bus in its lane",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "bicycle near a bus",
-        "bicycle in same lane as a vehicle",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bicycle behind a bus",
+    "49d76058-b4f0-3931-86fa-de160b4c1b88": [
         "vehicle being tailgated while approaching stopped traffic",
-        "vehicle accelerating towards pedestrian crossing"
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "motorcycle in the same lane as a box truck",
+        "pedestrian facing toward the bus",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "bicycle near traffic cone",
+        "vehicle being overtaken on the right",
+        "vehicle facing and heading toward pedestrian group",
+        "any vehicle in front of stop sign",
+        "vehicle being followed by ego vehicle while being overtaken on right"
     ],
-    "b8a5a7a9-1c4f-4f2e-96a6-565e727b24d0": [
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle facing the ego vehicle",
-        "ego vehicle near construction cone",
-        "pedestrian near construction cone",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "pedestrian walking past right side of vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle facing away from the ego vehicle",
-        "bus in bus lane",
-        "vehicle accelerating more than two meters per second"
+    "b2a8a9aa-19cd-3ffd-b02c-0f2a47d1d0eb": [
+        "any vehicle in front of stop sign",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "car turning right",
+        "vehicle at a stop sign",
+        "active vehicle at stop sign",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle stopped at a stop sign",
+        "motorcycle changing lanes to the left near multiple vehicles",
+        "the vehicle two cars behind the ego vehicle",
+        "the vehicle two cars in front of the ego vehicle"
     ],
-    "7c539ecc-658a-3956-a9a4-6e7f5bd67373": [
-        "semi truck within 30 meters ahead of ego vehicle",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian walking alongside bollard",
-        "ego vehicle approaching crossing pedestrians",
-        "stopped car",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrians over 30 meters away",
-        "moving bicycle directly to the left of the ego vehicle",
-        "vehicle turning right with pedestrian waiting"
+    "e0d2fe70-8f98-3ce2-8d8f-4268a81f7169": [
+        "bicycle in same lane as a vehicle",
+        "bicycle facing toward a vehicle",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "car driving in bus lane",
+        "regular vehicle turning right",
+        "bus in bus lane",
+        "multiple buses within 50 meters ahead",
+        "bicycle facing toward moving traffic",
+        "box truck at stop sign",
+        "vehicle turning left at intersection while sharing lane with a bus"
     ],
-    "945f3b20-778a-3581-adef-544de4a089ef": [
-        "group of people",
-        "vehicle near multiple bollards",
-        "a group of people",
-        "vehicle accelerating towards pedestrian crossing",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle accelerating aggressively",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+    "194b6c89-8060-3174-b402-308f72cb1c15": [
+        "ego vehicle near construction cone",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "box truck near at least 3 construction cones",
+        "ego vehicle approaching stopped delivery truck",
         "vehicle being overtaken on the left",
-        "vehicle accelerating while changing lanes",
-        "ego vehicle near bollard"
-    ],
-    "74648e09-358d-3183-9b40-278620befa40": [
         "vehicle to the back right of the ego vehicle",
-        "moving bus to the front-left of the ego vehicle",
-        "object that hasn't moved",
-        "vehicle facing away from the ego vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "accelerating passenger vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "car turning right",
-        "ego vehicle approaching crossing pedestrians"
+        "the vehicle two cars in front of the ego vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "box truck braking in front of ego vehicle",
+        "jaywalking pedestrian"
     ],
-    "7c30c3fc-ea17-38d8-9c52-c75ccb112253": [
-        "object that hasn't moved",
-        "motorcyclist braking hard",
-        "parked vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle getting passed from the right",
-        "oncoming vehicle changing lanes",
-        "vehicle being overtaken on the right",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle at a stop sign",
-        "multiple pedestrians crossing ahead"
+    "c730e199-fb8d-3abf-b7aa-bbc81bf8c08f": [
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "vehicle surrounded by bicycles on all sides",
+        "moving bicycle directly to the left of the ego vehicle",
+        "motorcycle overtaking a vehicle",
+        "bicyclist within 3 meters on either side",
+        "bicycle traveling against traffic",
+        "pedestrian approaching a parked vehicle",
+        "the vehicle two cars behind the ego vehicle",
+        "bicyclist riding in vehicle lane",
+        "vehicle between two bicycles while on pedestrian crossing"
+    ],
+    "5d9c1080-e6e9-3222-96a2-37ca7286a874": [
+        "pedestrian facing away from the ego vehicle",
+        "construction item on road",
+        "pedestrian on road not facing traffic",
+        "vehicle turning right near construction zone",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle being crossed by a pedestrian",
+        "moving bus being crossed by a bicycle",
+        "vehicle changing lanes near message board trailer",
+        "vehicle approaching multiple pedestrians at crosswalk"
+    ],
+    "38f30522-2d43-3ff3-a94b-84887ab1671d": [
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle accelerating while changing lanes",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle accelerating more than two meters per second",
+        "vehicle traveling over 20 meters per second",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "box truck changing lanes ahead",
+        "multiple pedestrians crossing ahead",
+        "vehicle approaching stopped vehicle at intersection"
     ],
-    "460324ea-c769-38db-bba9-044643c8780e": [
-        "any vehicle in front of stop sign",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian turning and watching the ego vehicle",
+    "b8d83d8e-1574-3efd-b067-a3ed422a259e": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "ego vehicle approaching stopped delivery truck",
+        "construction item on road",
+        "vehicle in close proximity to bicycle",
+        "vehicle changing lanes to the right",
         "jaywalking pedestrian",
+        "vehicle to the back right of the ego vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "motorcycle or pedestrian within 5 meters to the right"
+    ],
+    "8a11791c-1d8f-3b12-bacc-38aa982b0003": [
+        "vehicle near multiple bollards",
+        "vehicle being crossed by a pedestrian",
+        "vehicle turning at intersection with nearby pedestrians",
+        "group of people",
+        "vehicle changing lanes to the right",
+        "pedestrian near bollard",
         "a group of people",
+        "vehicle with multiple construction cones on the left side",
+        "stationary construction barrel",
+        "pedestrian crossing between bollards"
+    ],
+    "f61bcee1-2964-3c4b-95a5-697df5f42f47": [
+        "vehicle accelerating on intersection",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle navigating near multiple bicycles",
         "vehicle approaching multiple pedestrians at crosswalk",
-        "pedestrian approaching a parked vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle accelerating more than two meters per second",
-        "oncoming vehicle changing lanes"
+        "pedestrian near construction cone",
+        "group of three people",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle with multiple bicycles ahead",
+        "group of at least 3 moving bicyclists within 5 meters of each other"
     ],
-    "19711b73-c43b-3922-be61-8c44df707a7d": [
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle being crossed by a pedestrian",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
+    "511b93af-f16e-3195-8628-fbb972a17f74": [
+        "pedestrian on intersection not using a crosswalk",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "ego vehicle near construction cone",
-        "motorcycle at stop sign",
-        "bicycle following closely behind a vehicle"
+        "vehicle accelerating towards pedestrian crossing",
+        "pedestrian on road not facing traffic",
+        "box truck near at least 3 construction cones",
+        "ego vehicle near articulated bus",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "ego vehicle near stroller on sidewalk",
+        "parked box trucks",
+        "stopped vehicles at intersection being crossed by pedestrians"
     ],
-    "a9a24c80-600f-3f85-b4d9-a70ceccad385": [
-        "vehicle facing away from the ego vehicle",
-        "stationary object",
+    "3e707e96-ad84-3e68-bea5-2f9ac502a2d9": [
+        "vehicle at a stop sign",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "person",
+        "school bus at pedestrian crossing",
+        "motorcyclist",
+        "school bus on intersection",
         "vehicle moving at crawling speed",
-        "ego vehicle approaching crossing pedestrians",
-        "parked vehicle",
-        "object that hasn't moved",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle getting passed from the right",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle being passed on the left by another vehicle"
-    ],
-    "b29b43d7-3af9-363e-aaeb-8805d958f982": [
-        "pedestrian walking past right side of vehicle",
         "accelerating passenger vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "pedestrians over 30 meters away",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle facing away from the ego vehicle",
-        "ego vehicle near bollard",
-        "stationary object",
-        "vehicle two cars ahead is braking",
-        "passenger vehicle turning right"
+        "vehicle two vehicles ahead is braking",
+        "vehicle following another vehicle too closely"
     ],
-    "e574050e-f787-3186-9686-2e9aca8102a0": [
-        "vehicle navigating near multiple bicycles",
+    "eb777faa-5b76-387e-a408-90524c6f2848": [
+        "pedestrian near construction cone",
+        "pedestrian crossing at bollard",
+        "pedestrian crossing between bollards",
+        "pedestrian facing toward the bus",
         "vehicle turning left while pedestrian crosses at crosswalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "the vehicle two cars behind the ego vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "left lane change while there is a vehicle to the left",
-        "vehicle between two bicycles while on pedestrian crossing"
+        "ego vehicle merging between two regular vehicles",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle maneuvering between construction barriers",
+        "vehicle two cars ahead is braking",
+        "ego vehicle changing lanes to the right with a vehicle ahead"
     ],
-    "43efcbe2-fe24-35b0-9e69-b07c1b0725d3": [
+    "e10475f7-0d56-3a75-870d-d4206fa165d7": [
+        "box truck changing lanes to the left",
+        "ego vehicle two cars ahead of another vehicle",
         "vehicle two vehicles ahead is changing lanes",
+        "accelerating vehicle changing lanes to the right",
+        "objects getting closer to the ego vehicle",
+        "any vehicle in front of stop sign",
         "vehicle two cars ahead is changing lanes",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "left lane change while there is a vehicle to the left",
-        "vehicles being passed by a motorcycle on either side",
-        "ego vehicle following vehicle being overtaken on right",
-        "motorcycle overtaking a vehicle",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle navigating near multiple bicycles",
-        "bicycle in vehicle lane with vehicle"
+        "ego vehicle near construction cone",
+        "active vehicle at stop sign",
+        "ego vehicle approaching stopped delivery truck"
     ],
-    "c2c0e6bc-05e5-30dd-8e5e-0e7b6106ad30": [
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrians using designated crossing",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bus changing lanes",
-        "pedestrian on intersection not using a crosswalk",
-        "multiple buses within 50 meters ahead",
-        "passenger vehicle swerving left",
-        "vehicle turning at intersection with nearby pedestrians"
+    "105f47eb-491c-3cab-91af-83c5bc1f6c48": [
+        "jaywalking pedestrian",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "bicycle facing toward a vehicle",
+        "multiple pedestrians crossing ahead",
+        "bicycle passing by parked vehicle",
+        "bicycle facing toward moving traffic",
+        "vehicle crossing path of another vehicle",
+        "vehicle with animal in front",
+        "left lane change while there is a vehicle to the left",
+        "bus changing lanes"
     ],
-    "8223c3d0-3b08-3889-9cdc-a88592c4bd4a": [
-        "pedestrian near bollard",
-        "pedestrians over 30 meters away",
-        "pedestrian crossing at bollard",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle being crossed by a pedestrian",
-        "stationary object",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian walking alongside bollard",
-        "vehicle turning right at stop sign",
-        "motorcycle between two vehicles"
+    "8066e267-a653-3b43-8fce-a5a780912c82": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle being overtaken on the right",
+        "dog near an intersection",
+        "the vehicle two cars behind the ego vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "multiple pedestrians crossing ahead",
+        "box truck braking in front of ego vehicle",
+        "vehicle two vehicles ahead is braking",
+        "vehicle being followed by ego vehicle while being overtaken on right"
     ],
-    "3a789fb0-5cd2-3710-b8ea-f32fce38e3ca": [
-        "ego vehicle changing lanes to the left",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "group of pedestrians ahead of the ego vehicle",
-        "stroller",
-        "car with a stroller to its left",
-        "stationary construction barrel",
-        "pedestrian walking with stroller",
-        "passenger vehicle near stroller in road",
-        "construction item on road",
-        "box trucks within 10 meters of an intersection"
+    "42c8449f-6e6d-3980-b54a-805eba6621c4": [
+        "vehicle moving at crawling speed",
+        "vehicle following another vehicle too closely",
+        "box trucks within 10 meters of an intersection",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle braking heavily",
+        "vehicle with a bicycle to its right",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "moving bus being crossed by a bicycle",
+        "vehicle facing toward parked vehicles"
     ],
-    "1992ed13-948e-34e6-8d9b-a3416e545a95": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus changing lanes",
-        "pedestrian with multiple dogs",
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "bus with multiple pedestrians waiting on the right side",
+    "fb149ce0-7706-3bb5-9860-8c63d1c77592": [
+        "bicycle facing toward a vehicle",
+        "motorcyclist",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "ego vehicle near construction barrel",
+        "ego vehicle approaching stopped truck",
+        "traffic officer in roadway",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
         "bicycle following closely behind a vehicle",
-        "pedestrian facing toward the bus",
         "bicycle facing toward moving traffic",
-        "ego vehicle passing parked bus"
+        "pedestrian to the back-right of the ego vehicle"
     ],
-    "575d8d24-ba88-3b18-84c0-df5b29dccfde": [
-        "vehicle to the back right of the ego vehicle",
-        "stopped car",
+    "6d3bfbc9-45dc-316e-a94c-a441371d0571": [
         "objects getting closer to the ego vehicle",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle at intersection facing another vehicle",
-        "pedestrian facing toward ego vehicle",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "pedestrians over 30 meters away",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle accelerating on intersection"
+        "accelerating truck",
+        "pedestrian facing toward the bus",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicyclist within 3 meters on either side",
+        "construction item on road",
+        "bicycle passing by parked vehicle",
+        "vehicle surrounded by bicycles on all sides",
+        "truck sharing a lane with another truck",
+        "ego vehicle near construction cone"
     ],
-    "36d7f8fb-6d47-3e1d-a1f7-b2c67ddf1f44": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "vehicle turning right with pedestrian waiting",
+    "cd83b7cd-e2e7-34f6-bee7-1ff5ca3ed665": [
+        "vehicle braking heavily",
+        "vehicle making a right turn",
+        "passenger vehicle turning right",
+        "the vehicle two cars in front of the ego vehicle",
+        "ego vehicle near construction cone",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle accelerating while changing lanes",
+        "parked box trucks",
+        "construction item on road",
+        "vehicle to the back right of the ego vehicle"
+    ],
+    "f3d1e3c3-2770-3504-a592-b62619598812": [
+        "accelerating vehicle changing lanes to the right",
+        "vehicle within 5 meters of a bicycle",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "vehicle two cars ahead is changing lanes",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle two vehicles ahead is changing lanes",
+        "passenger vehicle swerving left",
+        "making a left lane change while there is a vehicle to the right",
+        "ego vehicle two cars ahead of another vehicle",
+        "bus within 5 meters to either side of ego vehicle"
+    ],
+    "2b6d18dc-4c95-3301-a498-3ed152798d5b": [
+        "ego vehicle approaching crossing pedestrians",
+        "bicycle sharing lane as a regular vehicle",
         "school bus on intersection",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "group of three people",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus changing lanes",
+        "truck changing lanes to the right",
+        "motorcycle between two vehicles",
         "bicycle near school bus",
-        "vehicle turning right next to pedestrian with stroller"
+        "school bus at pedestrian crossing",
+        "bicyclist on intersection",
+        "wheelchair user at pedestrian crossing",
+        "vehicle passing truck with pedestrian crossing ahead"
     ],
-    "df5d0b0e-5bcb-304a-a167-18b92d0f1d45": [
+    "4e302e79-1cb9-358f-a3fb-e133a655af4f": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "pedestrian approaching a parked vehicle",
+        "pedestrian crossing between bollards",
+        "bicycle traveling alongside parked vehicles",
+        "ego vehicle near construction cone",
+        "pedestrian near construction cone",
+        "active vehicle at stop sign",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "ego vehicle in dense traffic with lane-changing vehicles"
+    ],
+    "b09ba294-96b3-3c45-aeed-c40a309e5f4e": [
         "any vehicle in front of stop sign",
-        "parked vehicle",
-        "bicycle following closely behind a vehicle",
-        "ego vehicle near bollard",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle navigating near multiple bicycles",
-        "ego vehicle two cars ahead of another vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "vehicle turning left while pedestrian crosses at crosswalk"
+        "construction item on road",
+        "vehicle turning right at stop sign",
+        "active vehicle at stop sign",
+        "vehicle making a right turn",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle stopped at a stop sign",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle at a stop sign"
     ],
-    "a359e053-a350-36cf-ab1d-a7980afaffa2": [
-        "vehicle turning right with pedestrian in front",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle accelerating aggressively",
-        "vehicle changing lanes while on an intersection",
-        "bus changing lanes",
-        "vehicle facing away from the ego vehicle",
-        "vehicle changing lanes to the right",
+    "7ef4a6cc-7266-3a31-8dd4-01c3d3c58dcb": [
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle in close proximity to bicycle",
+        "vehicle being overtaken on the right",
+        "motorcyclist braking hard",
         "vehicle being passed on the left by another vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "multiple pedestrians crossing ahead"
+        "ego vehicle approaching stopped truck",
+        "vehicle traveling over 20 meters per second",
+        "moving bus being crossed by a bicycle"
     ],
-    "ad319b98-6faa-3648-98bd-43afdbd20020": [
-        "moving bus to the front-left of the ego vehicle",
-        "motorcyclist",
-        "ego vehicle two cars ahead of another vehicle",
-        "pedestrian walking past right side of vehicle",
-        "motorcycle between two vehicles",
-        "bus within 5 meters to either side of ego vehicle",
-        "pedestrians using designated crossing",
-        "vehicles being passed by a motorcycle on either side",
+    "271f4204-dd77-350b-b9db-5dabc4191985": [
+        "oncoming vehicle changing lanes",
+        "two cars back from the ego vehicle",
+        "vehicle to the back right of the ego vehicle",
+        "pedestrians over 30 meters away",
+        "box truck with multiple construction cones to its right",
+        "accelerating passenger vehicle",
         "left lane change while there is a vehicle to the left",
-        "moving pedestrian within 3 meters to the left of ego vehicle"
-    ],
-    "eed8593d-60e3-3e41-9fea-55f544b01749": [
-        "turning left",
-        "truck on intersection",
-        "vehicle turning right at stop sign",
-        "vehicle braking heavily",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle following another vehicle too closely",
         "ego vehicle changing lanes to the left",
-        "accelerating truck",
-        "vehicle stopped at a stop sign",
-        "truck swerving near construction cones",
-        "vehicle braking at pedestrian crossing"
+        "vehicle turning left"
     ],
-    "9fd55542-e982-361f-814f-61ad4ad07adf": [
-        "vehicle changing lanes while in bike lane",
+    "bffb0c9e-5e3a-3251-ab5e-299491b53cbf": [
+        "stop sign behind a pedestrian",
+        "bicycle near traffic cone",
+        "car driving in bus lane",
+        "group of three people",
+        "pedestrian near stop sign",
+        "moving bus to the front-left of the ego vehicle",
         "ego vehicle near construction barrel",
-        "group of pedestrians ahead of the ego vehicle",
-        "bicycle traveling with vehicle traffic",
-        "vehicle changing lanes through bike lane",
-        "bicycle passing by parked vehicle",
-        "pedestrian with multiple dogs",
-        "ego vehicle approaching stopped truck",
-        "bus within 5 meters to either side of ego vehicle",
-        "pedestrian walking between two stopped vehicles"
-    ],
-    "9cdbe6f4-938f-4ac5-88f7-94a82bea715b": [
-        "construction item on road",
-        "bicyclist within 3 meters on either side",
-        "vehicle changing lanes near group of cyclists",
-        "bicycle near a bus",
-        "vehicle maneuvering between construction barriers",
-        "bicyclist changing lanes to the right",
-        "bicycle traveling alongside construction indicators",
-        "bicycle passing between bus and construction barrier",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "pedestrian near construction cone"
+        "bus in bus lane",
+        "stationary construction barrel",
+        "truck without trailer"
     ],
-    "b4fc7eef-819c-35a6-b937-358ffb5c2aa0": [
-        "truck without trailer",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "pedestrian to the left of a truck",
-        "vehicle with multiple construction cones on the left side",
-        "parked box trucks",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
+    "71283e26-905b-3811-b9e0-c10c0253769b": [
+        "vehicle passing school bus at stop",
         "ego vehicle approaching stopped truck",
-        "two cars back from the ego vehicle",
-        "pedestrian on road not facing traffic"
+        "vehicle two vehicles ahead is changing lanes",
+        "school bus on intersection",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle getting passed from the right",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "school bus at pedestrian crossing",
+        "bus making right turn",
+        "vehicle two cars ahead is changing lanes"
     ],
-    "633addf9-441c-35e7-868a-738aa612d51c": [
-        "regular vehicle turning right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrian crossing at bollard",
+    "72ad5f22-3a9c-3758-81af-abda8181a622": [
+        "ego vehicle passing official signaler",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "motorcycle between two vehicles",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle stopped at a stop sign",
+        "group of people",
+        "vehicles being passed by a motorcycle on either side",
+        "unattended stroller",
+        "multiple pedestrians crossing ahead",
+        "vehicle approaching multiple pedestrians at crosswalk"
+    ],
+    "e1f37027-6a39-3eb1-b38a-3f2836b84735": [
+        "bus with multiple pedestrians waiting on the right side",
+        "accelerating passenger vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "car turning right",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "pedestrian on road not facing traffic",
+        "accelerating vehicle changing lanes to the right",
         "pedestrian on intersection not using a crosswalk",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "motorcycle between stopped vehicles",
-        "active vehicle at stop sign",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+        "passenger vehicle swerving left"
     ],
-    "8346e544-4a73-3c88-9339-c7a21fbd3a2f": [
-        "vehicle with multiple bicycles ahead",
-        "vehicle within 5 meters of a bicycle",
-        "ego vehicle with parked bicycles ahead",
+    "639d4834-f922-3e27-9913-20aa649f815d": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicycle in same lane as a vehicle",
         "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "passenger vehicle swerving left",
-        "vehicle in close proximity to bicycle",
-        "bicycle following closely behind a vehicle",
-        "vehicle turning near group of cyclists",
-        "bicycle and vehicle traveling in bike lane"
+        "motorcyclist traveling opposite to bicycle traffic",
+        "vehicle with animal in front",
+        "oncoming vehicle changing lanes",
+        "box truck changing lanes to the right",
+        "dog near pedestrian",
+        "vehicle changing lanes while on an intersection",
+        "dog on roadway"
     ],
-    "4aae26d1-aa71-30ae-b838-2a25d1f317f5": [
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "truck on intersection",
-        "vehicle with multiple construction cones on the left side",
-        "multiple buses within 50 meters ahead",
-        "pedestrian facing toward ego vehicle",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle near traffic cone",
-        "bicycle near a bus",
-        "vehicle two vehicles ahead is changing lanes",
-        "bicycle crossing vehicle path at intersection"
+    "3576c0f5-c1b5-35bb-a0c4-ee95cba5c754": [
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle turning right at stop sign",
+        "ego vehicle near bollard",
+        "pedestrian walking with dog on sidewalk",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "ego vehicle near articulated bus",
+        "dog on roadway",
+        "bicycle near school bus",
+        "any vehicle in front of stop sign",
+        "vehicle at intersection facing another vehicle"
     ],
-    "6b0cc3b0-2802-33a7-b885-f1f1409345ac": [
-        "vehicle being overtaken on the right",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle with multiple bicycles ahead",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle changing lanes to the right",
-        "vehicle changing lanes",
-        "vehicle following another vehicle too closely",
-        "vehicle moving at crawling speed",
-        "pedestrian near bollard",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+    "80da8956-f418-319c-9f49-3d47d9002546": [
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "dog on roadway",
+        "bus with multiple pedestrians waiting on the right side",
+        "bus in bus lane",
+        "dog crossing in front of vehicle",
+        "vehicle maneuvering between construction barriers",
+        "vehicle with animal in front",
+        "pedestrian with multiple dogs"
     ],
-    "b9b1564c-66d0-4597-a664-2735cf2ffd04": [
-        "vehicle sharing a lane with another vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "group of people",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle hard braking with another vehicle ahead",
-        "the vehicle two cars in front of the ego vehicle",
-        "a group of people",
-        "vehicle stopped at a stop sign",
-        "pedestrian crossing in front of vehicle at crosswalk"
+    "8aaa2fac-59f9-3a3d-98ee-f3dde8b4d781": [
+        "truck without trailer",
+        "pedestrian approaching a parked vehicle",
+        "motorcyclist braking hard",
+        "vehicle with a bicycle to its right",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "bus in bus lane",
+        "pedestrian walking alongside stopped bus",
+        "pedestrians using designated crossing",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing"
+    ],
+    "6937b4e5-b5b4-3970-b5dd-9ad194e6c338": [
+        "multiple buses within 50 meters ahead",
+        "vehicle near construction barrel",
+        "group of three people",
+        "motorcycle between two vehicles",
+        "bicycle near a bus",
+        "pedestrian with multiple dogs",
+        "bicycle behind a bus",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "bus with another bus in its lane",
+        "motorcycle between stopped vehicles"
     ],
-    "1a10b0e6-569f-32db-95e8-10c074e353e8": [
-        "bus within 5 meters to either side of ego vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "dog near an intersection",
+    "718a2f8d-954a-3cd8-89e6-43898cf21fee": [
         "pedestrian with multiple dogs",
+        "pedestrian walking past right side of vehicle",
+        "the vehicle two cars behind the ego vehicle",
         "dog",
-        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle being crossed by a pedestrian",
+        "stopped car",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle near multiple bollards",
+        "vehicle changing lanes through bike lane",
+        "vehicle hard braking with another vehicle ahead"
+    ],
+    "8e02e2db-2836-37ec-af33-a1cc2e6e49dc": [
+        "pedestrian crossing in front of cyclist near intersection",
+        "bicycle near a bus",
+        "bus with at least 3 pedestrians within 5 meters",
+        "group of three people",
         "bus with multiple pedestrians waiting on the right side",
+        "stroller in the same lane as a regular vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "stop sign behind a pedestrian",
+        "bicycle following closely behind a vehicle",
+        "bicycle behind a bus"
+    ],
+    "118a1e87-aff4-35f5-aa38-01504a63ddce": [
+        "city bus",
+        "vehicle turning right near construction zone",
+        "pedestrian crossing between bollards",
+        "parked box trucks",
         "bus with at least 3 pedestrians within 5 meters",
-        "accelerating passenger vehicle",
-        "vehicle passing school bus at stop"
+        "pedestrian facing toward the bus",
+        "bus in bus lane",
+        "truck changing lanes to the right",
+        "car driving in bus lane",
+        "ego vehicle approaching pedestrian at crosswalk"
     ],
-    "c4ea1b05-c7d5-3b59-aed1-9f3d2621ac00": [
-        "vehicle sharing a lane with another vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "pedestrian walking alongside bollard",
-        "pedestrian to the back-right of the ego vehicle",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian near bollard",
+    "a146ab19-f4f3-334f-b830-fc68de83e26c": [
+        "vehicle two cars ahead is braking",
+        "stopped car",
         "pedestrian walking past right side of vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk"
-    ],
-    "d20c3612-a64d-3aa8-bd4a-58890413afbb": [
-        "regular vehicles that are stopped or nearly stopped",
-        "ego vehicle near stroller on sidewalk",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle braking heavily",
-        "unattended stroller",
-        "vehicle accelerating more than two meters per second",
-        "vehicle changing lanes",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle turning right with pedestrian in front",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
-    ],
-    "e2de16b1-0ae9-39ad-82fd-edcabb26feca": [
-        "pedestrian to the left of a truck",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "vehicle two cars ahead is being crossed by a pedestrian",
         "vehicle turning left while pedestrian crosses at crosswalk",
-        "pedestrian facing toward the bus",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "truck sharing a lane with another truck",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks",
-        "moving bus to the front-left of the ego vehicle"
+        "regular vehicle turning right",
+        "pedestrians over 30 meters away",
+        "pedestrian facing toward ego vehicle",
+        "vehicle with multiple construction cones on the left side",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "pedestrian walking alongside bollard"
     ],
-    "aa630060-2eda-37bd-ae88-a513fd9fc8e3": [
-        "any vehicle in front of stop sign",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle turning right at stop sign",
-        "vehicle with a bicycle to its right",
-        "vehicle with multiple bicycles ahead",
-        "ego vehicle near bollard",
-        "vehicle at a stop sign",
+    "5037a27d-95f5-352f-9c64-5b8e75f574b2": [
+        "vehicle being crossed by a pedestrian",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "pedestrian to the back-right of the ego vehicle",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle two vehicles ahead is turning",
+        "pedestrian on intersection not using a crosswalk",
+        "group of people",
+        "accelerating passenger vehicle",
+        "box truck in bike lane",
+        "accelerating vehicle changing lanes to the right"
+    ],
+    "380e5bf0-1c68-36a4-ac64-09a03b60bebf": [
+        "motorcycle between two vehicles",
+        "bicycle traveling alongside parked vehicles",
         "bicycle following closely behind a vehicle",
+        "vehicle two cars ahead is changing lanes",
+        "pedestrian facing toward the bus",
+        "accelerating passenger vehicle",
+        "stroller in the same lane as a regular vehicle",
+        "ego vehicle near articulated bus",
         "vehicle facing and heading toward pedestrian group",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
+        "vehicle approaching stopped vehicle at intersection"
     ],
-    "96284bbc-6b58-330f-a5a6-76cd518543f0": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "bicycle in vehicle lane with vehicle",
+    "3fbdfb6c-927f-4aaa-81b1-21b02efd4c01": [
+        "vehicle sharing a lane with another vehicle",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle making a right turn",
         "vehicle accelerating towards pedestrian crossing",
-        "pedestrian crossing between bollards",
-        "bicyclist riding in vehicle lane",
-        "motorcycle between stopped vehicles",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle turning near group of cyclists"
-    ],
-    "b56e3f47-72a6-34e8-9ada-b4169e28e5b9": [
-        "vehicle approaching stopped vehicle at intersection",
-        "ego vehicle changing lanes to the left",
-        "construction item on road",
-        "vehicle stopped at construction barrel",
-        "pedestrian near construction cone",
-        "ego vehicle changing lanes near construction zone",
-        "parked box trucks",
-        "vehicle with multiple bicycles ahead",
-        "box truck changing lanes to the right",
-        "vehicle turning right with pedestrian waiting"
-    ],
-    "12071817-ba53-35a4-bf6c-a8e8e7ad8969": [
-        "vehicle braking heavily",
-        "vehicle accelerating on intersection",
-        "vehicle two vehicles ahead is braking",
-        "turning left",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle moving at crawling speed",
-        "two cars back from the ego vehicle",
-        "ego vehicle with vehicles on both sides",
-        "car turning right",
-        "bus within 5 meters to either side of ego vehicle"
-    ],
-    "0a524e66-ee33-3b6c-89ef-eac1985316db": [
-        "bus with multiple pedestrians waiting on the right side",
-        "multiple buses within 50 meters ahead",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus in bus lane",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle turning right next to pedestrian with stroller",
-        "bus changing lanes",
-        "pedestrian crossing between bollards",
-        "vehicle two cars ahead is braking",
-        "ego vehicle following vehicle that is being overtaken on the right"
-    ],
-    "3933d1a2-f121-3c8a-8b01-7738e58c045f": [
-        "bus with another bus in its lane",
-        "group of three people",
-        "pedestrian between moving vehicles on both sides",
-        "multiple buses within 50 meters ahead",
-        "group of pedestrians ahead of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle two cars ahead is braking",
-        "bus with at least 3 pedestrians within 5 meters",
         "vehicle to the back right of the ego vehicle",
-        "pedestrian walking between two stopped vehicles"
+        "moving wheelchair within 5 meters of an intersection",
+        "vehicle following another vehicle too closely",
+        "vehicle crossing path of another vehicle"
     ],
-    "8beeb8db-28f9-396c-b752-17f906505948": [
-        "ego vehicle approaching cyclist in same lane",
-        "car following closely behind bicyclist",
+    "a4087bac-8194-4c9e-8b2d-4bda58773a3c": [
+        "bicycle in vehicle lane with vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bicyclist on intersection",
+        "group of people",
         "bicycle traveling against traffic",
-        "pedestrian turning and watching the ego vehicle",
-        "bicycle facing toward a vehicle",
-        "bicyclist within 3 meters on either side",
-        "bicyclist riding in vehicle lane",
-        "bicycle sharing lane as a regular vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "bicycle near traffic cone"
-    ],
-    "e88132d0-4512-3d6f-a1c8-f60972332af5": [
-        "bicycle near traffic cone",
-        "bicyclist within 3 meters on either side",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "moving bicycle directly to the left of the ego vehicle",
-        "truck on intersection",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "pedestrian to the left of a truck",
-        "any vehicle in front of stop sign"
+        "bicycle traveling with vehicle traffic",
+        "pedestrians facing each other at close range, possibly conversing",
+        "bicycle on intersection",
+        "car following closely behind bicyclist",
+        "regular vehicle turning right"
     ],
-    "6c26dd11-e4a9-3d85-b118-09f65c6f0f2a": [
-        "bicycle traveling alongside construction indicators",
-        "vehicle turning right with pedestrian waiting",
+    "c654b457-11d4-393c-a638-188855c8f2e5": [
+        "ego vehicle approaching crossing pedestrians",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "moving wheelchair within 5 meters of an intersection",
+        "pedestrian facing away from the ego vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle traveling with vehicle traffic",
         "ego vehicle following vehicle being overtaken on right",
-        "passenger vehicle turning left at intersection",
-        "stationary construction barrel",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "bicyclist riding in vehicle lane",
-        "car turning right",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle turning right near construction zone"
+        "bicycle sharing lane as a regular vehicle",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "c858bd6a-81ab-3f54-b46d-ffc091ef6945": [
-        "ego vehicle two cars ahead of another vehicle",
-        "ego vehicle with vehicles on both sides",
+    "a4f240a0-12d4-3542-a11f-0c592e90e4da": [
+        "ego vehicle changing lanes near construction zone",
+        "vehicle accelerating on intersection",
+        "unattended dog",
+        "ego vehicle near construction cone",
+        "vehicle changing lanes while in bike lane",
+        "motorcycle near construction cone",
+        "passenger vehicle turning right",
         "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle being overtaken while approaching another vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "two cars back from the ego vehicle",
-        "vehicle being overtaken on the left",
-        "vehicle two vehicles ahead is braking",
-        "vehicle crossing path of another vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+        "ego vehicle two cars ahead of another vehicle",
+        "pedestrian walking with dog on sidewalk"
+    ],
+    "072c8e90-a51c-3429-9cdf-4dababb4e9d8": [
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle with multiple bicycles ahead",
+        "pedestrian facing toward the bus",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "pedestrians facing each other at close range, possibly conversing",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "bus with another bus in its lane",
+        "multiple buses within 50 meters ahead"
     ],
-    "f9f6a7e9-4f79-3fdf-b1a7-ba300622f116": [
-        "pedestrian near stop sign",
+    "6419dcfd-8777-35fa-924c-ebefccde0a9b": [
+        "vehicle changing lanes to the right",
         "vehicle changing lanes",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle accelerating while changing lanes",
-        "bus making right turn",
-        "motorcycle overtaking a vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "moving bus to the front-left of the ego vehicle",
-        "bus changing lanes",
-        "ego vehicle near construction barrel"
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "dog on roadway",
+        "vehicle turning right near construction zone",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "group of three people",
+        "car driving in bus lane",
+        "pedestrian near construction cone",
+        "ego vehicle approaching pedestrian at crosswalk"
     ],
-    "b6642e23-d100-3680-8882-9f3b753b2eef": [
+    "ec02cf7e-36d3-3e9d-8835-3b6c27975bea": [
+        "accelerating passenger vehicle",
+        "vehicle changing lanes",
+        "vehicle sharing a lane with another vehicle",
         "vehicle within 5 meters of a bicycle",
+        "vehicle near multiple bollards",
+        "objects getting closer to the ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle maneuvering between construction barriers",
         "vehicle with a bicycle to its right",
-        "a group of people",
-        "vehicle two cars ahead is braking",
-        "vehicle in close proximity to bicycle",
-        "ego vehicle near construction cone",
-        "vehicle being crossed by a pedestrian",
-        "group of pedestrians ahead of the ego vehicle",
-        "left lane change while there is a vehicle to the left",
-        "bicycle traveling alongside parked vehicles"
+        "ego vehicle with parked bicycles ahead"
     ],
-    "bbdb1e21-62eb-3230-8cef-a3b091c5edad": [
-        "motorcycle passing between parked vehicles",
-        "vehicle braking near pedestrian crossing",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle accelerating towards pedestrian crossing",
-        "passenger vehicle swerving left",
-        "vehicle accelerating aggressively",
-        "bicycle behind a bus",
-        "vehicle braking at pedestrian crossing",
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle approaching stopped truck"
+    "bb9be2e6-8f0e-3bb3-8bb9-5d9aa9df384d": [
+        "motorcycle in the same lane as a box truck",
+        "bus with another bus in its lane",
+        "car driving in bus lane",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "box truck near at least 3 construction cones",
+        "truck on intersection",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle traveling with vehicle traffic",
+        "motorcyclist braking hard",
+        "motorcyclist"
     ],
-    "067b1c50-6567-3840-ab56-1ca2a0ed9c30": [
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "bicycle behind a bus",
-        "bus making right turn",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle near articulated bus",
+    "4766da89-ca13-3e92-b53e-00bc710e9bba": [
+        "vehicle turning right with pedestrian in front",
+        "ego vehicle approaching cyclist in same lane",
+        "box trucks within 10 meters of an intersection",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle near bollard",
+        "pedestrian crossing at bollard",
         "city bus",
-        "bicycle near a bus",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle accelerating more than two meters per second",
-        "moving bicycle directly to the left of the ego vehicle"
-    ],
-    "6e106cf8-f6dd-38f6-89c8-9be7a71e7275": [
-        "multiple buses within 50 meters ahead",
-        "ego vehicle approaching stopped truck",
-        "ego vehicle approaching stopped delivery truck",
-        "truck in the same lane as a bus",
-        "box truck changing lanes to the right",
-        "jaywalking pedestrian",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "bus in the same lane as a truck",
-        "vehicle two cars ahead is changing lanes",
-        "pedestrian on road not facing traffic"
+        "vehicle being tailgated while approaching stopped traffic",
+        "person",
+        "ego vehicle near construction cone"
     ],
-    "855ba280-cd69-348d-9107-69e28cb8ad99": [
-        "bicycle sharing lane as a regular vehicle",
-        "ego vehicle near bollard",
+    "4667e48c-4d16-38be-b277-6b0013d6588c": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "pedestrians over 30 meters away",
+        "stationary construction barrel",
         "motorcycle between two vehicles",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "bicyclist riding in vehicle lane",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle passing by parked vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle changing lanes near group of cyclists",
-        "bicycle near traffic cone"
-    ],
-    "d551b8f9-feab-3946-9524-219e07988341": [
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "accelerating truck",
-        "vehicle getting passed from the right",
+        "vehicle stopped at construction barrel",
+        "stopped car",
+        "pedestrian crossing ahead of ego vehicle",
         "vehicle two cars ahead is being crossed by a pedestrian",
-        "truck sharing a lane with another truck",
-        "vehicle braking heavily",
-        "vehicle hard braking with another vehicle ahead",
-        "pedestrian on road not facing traffic",
-        "vehicle two vehicles ahead is changing lanes"
+        "vehicle near construction barrel",
+        "vehicle turning left while bicycle crosses from right"
     ],
-    "a6817756-af01-32ec-829f-d9e56ef7b6e8": [
-        "bicyclist on intersection",
-        "car following closely behind bicyclist",
-        "bicycle traveling with vehicle traffic",
+    "4f363f6a-e51c-4d22-b232-cf78f1520966": [
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle stopped at construction barrel",
+        "vehicle near multiple bollards",
+        "vehicle near construction barrel",
+        "stroller in the same lane as a regular vehicle",
+        "vehicle facing toward parked vehicles",
+        "bus changing lanes",
+        "vehicle facing and heading toward pedestrian group",
+        "ego vehicle near construction barrel",
+        "vehicle traveling over 20 meters per second"
+    ],
+    "d0828f48-3e67-3136-9c70-1f99968c8280": [
+        "bicycle passing between bus and construction barrier",
+        "bicycle near a bus",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bicycle behind a bus",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "bus with multiple pedestrians waiting on the right side",
+        "car driving in bus lane",
+        "pedestrians using designated crossing",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "multiple buses within 50 meters ahead"
+    ],
+    "9ecbfef8-29c6-334a-b4ff-aa8201439826": [
+        "bus within 5 meters to either side of ego vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "bicycle near traffic cone",
+        "pedestrian approaching a parked vehicle",
+        "parked box trucks",
         "bicyclist riding in vehicle lane",
+        "vehicle facing and accelerating toward pedestrian on road",
         "bicycle on intersection",
-        "vehicle in close proximity to bicycle",
+        "bicycle crossing vehicle path at intersection",
+        "bicycle traveling against traffic"
+    ],
+    "cf6a99cb-b8bc-34d7-bdca-30e50e66cd74": [
+        "vehicle facing toward parked vehicles",
+        "dog on roadway",
+        "the vehicle two cars in front of the ego vehicle",
+        "pedestrian near bollard",
+        "motorcycle between two vehicles",
+        "vehicle moving at crawling speed",
+        "regular vehicles that are stopped or nearly stopped",
+        "truck without trailer",
+        "vehicle following another vehicle too closely",
+        "vehicle to the back right of the ego vehicle"
+    ],
+    "7cd08674-1787-37d9-9365-988df023724b": [
+        "pedestrian on road not facing traffic",
         "vehicle within 5 meters of a bicycle",
+        "vehicle in close proximity to bicycle",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
         "bicycle facing toward moving traffic",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "ego vehicle changing lanes near bicycle while approaching stop sign"
-    ],
-    "f3cc42c7-84a8-35c5-8683-13878bb9beeb": [
-        "vehicle accelerating more than two meters per second",
-        "accelerating truck",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle being overtaken on the left",
-        "truck on intersection",
-        "vehicle accelerating while changing lanes",
-        "vehicle accelerating on intersection",
-        "vehicle braking heavily",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle approaching pedestrian at crosswalk"
+        "ego vehicle approaching construction zone with traffic controller",
+        "vehicle changing lanes while on an intersection",
+        "bicycle in same lane as a vehicle",
+        "bicycle sharing lane as a regular vehicle"
     ],
-    "edf3a727-664e-38be-b990-65d34012d926": [
-        "pedestrian walking alongside bollard",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle with multiple construction cones on the left side",
+    "4eb237d9-9f8c-3426-9da6-4aad349ff8aa": [
+        "accelerating passenger vehicle",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "passenger vehicle swerving left",
         "group of pedestrians ahead of the ego vehicle",
-        "pedestrian near construction cone",
-        "pedestrian near bollard",
-        "bicycle following closely behind a vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "bicycle on intersection",
-        "accelerating vehicle changing lanes to the right"
-    ],
-    "65732efc-1564-3ff8-8c7c-4239a08c0d70": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning right next to pedestrian with stroller",
-        "pedestrian walking with stroller",
-        "pedestrian turning and watching the ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "multiple pedestrians crossing ahead",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian crossing at bollard",
-        "vehicle changing lanes while in bike lane",
+        "vehicle hard braking with another vehicle ahead",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle getting passed from the right",
+        "vehicle changing lanes through bike lane",
+        "car with a stroller to its left",
         "vehicle changing lanes while on an intersection"
     ],
-    "e38c1e1d-f0e9-3d73-8193-29cbea481b4c": [
-        "bicycle in vehicle lane with vehicle",
-        "bicycle facing toward moving traffic",
-        "vehicle accelerating while changing lanes",
-        "car following closely behind bicyclist",
-        "vehicle two cars ahead is braking",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "bicycle near school bus",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian crossing in front of vehicle at crosswalk"
-    ],
-    "074d2237-ed1b-34d7-a2fc-68edbce50bb2": [
-        "bicycle following closely behind a vehicle",
-        "multiple pedestrians crossing ahead",
-        "vehicle turning right at stop sign",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle turning right with pedestrian waiting",
+    "df1935dc-1e5f-3f4d-bdcb-e6c2bcb07667": [
+        "vehicle turning right next to pedestrian with stroller",
+        "vehicle following another vehicle too closely",
         "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle with multiple bicycles ahead",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle turning left while pedestrian crosses at crosswalk"
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle traveling over 20 meters per second",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "passenger vehicle swerving left"
+    ],
+    "ef625e46-d0d4-38b9-9403-5614e7b39ec8": [
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle being overtaken while approaching another vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle braking near pedestrian crossing",
+        "pedestrian near stop sign",
+        "group of three people",
+        "ego vehicle near stroller on sidewalk",
+        "motorcyclist",
+        "motorcycle between two vehicles",
+        "vehicles being passed by a motorcycle on either side"
     ],
-    "fac8a63c-6b75-39d0-9f57-4344fde0f794": [
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle two cars ahead is braking",
-        "vehicle crossing path of another vehicle",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle changing lanes",
-        "vehicle braking heavily",
-        "ego vehicle near construction cone",
-        "ego vehicle merging between two regular vehicles",
-        "pedestrian facing toward ego vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk"
+    "5bc5e7b0-4d90-3ac8-8ca8-f6037e1cf75c": [
+        "box truck with multiple construction cones to its right",
+        "ego vehicle changing lanes to the left",
+        "truck on intersection",
+        "ego vehicle near articulated bus",
+        "box truck near at least 3 construction cones",
+        "pedestrians using designated crossing",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle accelerating more than two meters per second",
+        "vehicle two vehicles ahead is turning",
+        "vehicle being overtaken on the right"
     ],
-    "595ec33e-a1aa-3aaf-8821-8d1780db354c": [
-        "objects getting closer to the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "the vehicle two cars in front of the ego vehicle",
-        "stopped car",
-        "bus making right turn",
-        "bus in bus lane",
-        "pedestrian walking alongside stopped bus",
-        "vehicle making a right turn",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle accelerating aggressively"
+    "4c18ef76-84ba-4a78-8275-7663101fffcf": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle being overtaken on the right",
+        "vehicle being overtaken while approaching another vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle with multiple pedestrians to the left",
+        "bus with another bus in its lane",
+        "vehicle two vehicles ahead is braking",
+        "motorcycle between stopped vehicles",
+        "vehicle getting passed from the right"
     ],
-    "cea5f5c2-e786-30f5-8305-baead8923063": [
-        "bicycle in vehicle lane with vehicle",
+    "bb533c69-1e0b-341c-bedd-ff25fe9b84bf": [
         "bicyclist on intersection",
+        "vehicle braking heavily",
+        "bicycle facing toward moving traffic",
         "bicycle on intersection",
-        "bicyclist riding in vehicle lane",
-        "bicyclist changing lanes to the right",
-        "bicycle crossing vehicle path at intersection",
+        "bicycle in vehicle lane with vehicle",
+        "bus in bus lane",
+        "motorcycle in bike lane",
+        "accelerating vehicle changing lanes to the right",
         "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling with vehicle traffic",
-        "pedestrian crossing ahead of ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+        "pedestrian crossing between bollards"
     ],
-    "6fdd8d39-7b04-365a-9941-e9e805b05ecf": [
-        "bicycle facing toward a vehicle",
-        "bicycle passing by parked vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist riding in vehicle lane",
-        "bicyclist within 3 meters on either side",
+    "85026edc-5fdf-308e-a8ef-a1aad1151c50": [
+        "car with a stroller to its left",
+        "vehicle with multiple bicycles ahead",
+        "vehicle turning right with pedestrian in front",
+        "vehicle with a bicycle to its right",
+        "vehicle two vehicles ahead is turning",
+        "bicycle facing toward moving traffic",
+        "multiple buses within 50 meters ahead",
+        "passenger vehicle swerving left",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle navigating near multiple bicycles"
+    ],
+    "b5e6e498-54b3-37bb-b2a3-cdac33a18363": [
+        "vehicle changing lanes while in bike lane",
+        "vehicle two vehicles ahead is braking",
+        "vehicle two vehicles ahead is changing lanes",
+        "school bus on intersection",
+        "vehicle within 5 meters of a bicycle",
+        "box trucks within 10 meters of an intersection",
+        "bicycle crossing vehicle path at intersection",
         "bicycle traveling against traffic",
-        "accelerating truck",
-        "bicycle in same lane as a vehicle",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle changing lanes through bike lane"
+    ],
+    "3b2e6033-f37f-3a73-9fab-88317b9b6095": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "school bus at pedestrian crossing",
+        "bicyclist changing lanes to the right",
+        "stroller",
+        "pedestrian walking with stroller",
+        "pedestrian facing toward ego vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "school bus on intersection",
+        "motorcycle between stopped vehicles",
+        "motorcycle between two vehicles"
+    ],
+    "6b14d7c0-20f9-390b-af38-507a5de5998c": [
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrian walking with dog on sidewalk",
+        "bicycle near traffic cone",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
         "vehicle traveling over 20 meters per second",
-        "bus with at least 3 pedestrians within 5 meters"
+        "vehicle with animal in front",
+        "dog on roadway",
+        "vehicle turning right near construction zone",
+        "dog crossing in front of vehicle"
     ],
-    "e125bb91-dcaf-3013-9cc7-da653d7e11e1": [
-        "pedestrian crossing at bollard",
-        "vehicle with multiple bicycles ahead",
-        "pedestrian facing toward the bus",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle in close proximity to bicycle",
-        "group of three people",
+    "8858428d-8fd5-3c3f-8ca4-d01f6e25e63c": [
+        "pedestrian crossing in front of vehicle at crosswalk",
         "pedestrian crossing ahead of ego vehicle",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle turning right with pedestrian in front"
+        "multiple pedestrians crossing ahead",
+        "dog on roadway",
+        "passenger vehicle near stroller in road",
+        "vehicle turning right next to pedestrian with stroller",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "traffic officer in roadway",
+        "vehicle turning while pedestrian crosses with stroller",
+        "pedestrian walking with stroller"
     ],
-    "c69e348a-8e10-31dc-b71b-dd8e5cfd7211": [
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "regular vehicles that are stopped or nearly stopped",
-        "the vehicle two cars in front of the ego vehicle",
-        "two cars back from the ego vehicle",
+    "e68d1f0d-eb44-3751-975d-f80609f695ae": [
+        "vehicle following another vehicle too closely",
+        "box truck with multiple construction cones to its right",
+        "truck without trailer",
+        "box truck near at least 3 construction cones",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle sharing a lane with another vehicle",
+        "pedestrian near stop sign",
+        "bicycle following closely behind a vehicle",
+        "truck on intersection"
+    ],
+    "eaaf5ad3-2cec-3369-b3d1-97c737ecaf19": [
+        "bus with another bus in its lane",
+        "ego vehicle near articulated bus",
+        "regular vehicle turning right",
+        "vehicle traveling over 20 meters per second",
+        "pedestrian walking alongside stopped bus",
+        "passenger vehicle turning right",
         "the active vehicle in front of the vehicle ahead",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "box truck braking in front of ego vehicle",
-        "vehicle with multiple construction cones on the left side",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
+        "pedestrian near stop sign",
+        "pedestrian facing toward the bus",
+        "moving bus to the front-left of the ego vehicle"
     ],
-    "81d2b40a-c579-3e9c-b520-bee26cda947d": [
-        "dog",
+    "18bdf01b-6ba6-30a8-a707-1f1458529d3d": [
+        "unattended dog",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle traveling with vehicle traffic",
         "dog near an intersection",
+        "bicycle passing by parked vehicle",
         "dog near pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "bicyclist on intersection",
-        "car following closely behind bicyclist",
-        "bicycle near a bus",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle traveling against traffic",
-        "bicyclist changing lanes to the right"
+        "oncoming vehicle changing lanes",
+        "group of three people",
+        "bicycle sharing lane as a regular vehicle",
+        "dog"
     ],
-    "e94f58d9-177b-31be-aa05-e6dd10d04124": [
-        "construction item on road",
-        "bicycle traveling against traffic",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "car following closely behind bicyclist",
-        "moving bicycle directly to the left of the ego vehicle",
-        "bicycle passing by parked vehicle",
-        "bicycle near traffic cone",
-        "pedestrian near stop sign",
-        "ego vehicle following bicycle closely",
-        "vehicle turning right with pedestrian waiting"
+    "7ebbdbeb-a8de-3612-8f22-6ce91980841d": [
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle in close proximity to bicycle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "dog crossing in front of vehicle",
+        "vehicle navigating near multiple bicycles",
+        "vehicle stopped at official signaler",
+        "vehicle with multiple bicycles ahead"
     ],
-    "247f91e7-3177-33ad-b99e-0e0a4dc76751": [
-        "bicyclist riding in vehicle lane",
-        "bicycle following closely behind a vehicle",
-        "bicycle traveling with vehicle traffic",
-        "bicycle facing toward moving traffic",
-        "bicycle passing by parked vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle on intersection",
+    "aedbd525-e6df-4c0c-8be6-61c27fe58fd6": [
+        "city bus",
+        "motorcycle between stopped vehicles",
+        "vehicle accelerating on intersection",
+        "vehicle changing lanes near message board trailer",
+        "motorcycle between two vehicles",
+        "vehicle getting passed from the right",
+        "ego vehicle following vehicle being overtaken on right",
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle near articulated bus",
+        "objects getting closer to the ego vehicle"
+    ],
+    "59a668bc-5caf-3ccc-8335-e9cff4c61d0e": [
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle with multiple pedestrians to the left"
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle facing toward parked vehicles",
+        "group of people",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "unattended stroller",
+        "vehicle turning at intersection with nearby pedestrians",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle braking heavily"
     ],
-    "f64ed43e-417a-31ad-a322-b6108bf99a71": [
-        "truck sharing a lane with another truck",
-        "pedestrian to the left of a truck",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "bicycle behind a bus",
-        "bicycle traveling against traffic",
-        "bicycle crossing vehicle path at intersection",
-        "bicycle near a bus",
-        "vehicle turning left with a bicycle in front of it",
-        "box truck braking in front of ego vehicle",
-        "vehicle two vehicles ahead is at a stop sign"
+    "e65e405c-8aea-30f5-a926-1e0fbbeefb9f": [
+        "vehicle two vehicles ahead is turning",
+        "box truck in bike lane",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "bicycle following closely behind a vehicle",
+        "vehicle with multiple bicycles ahead",
+        "pedestrian crossing at bollard",
+        "vehicle near multiple bollards",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle with animal in front",
+        "accelerating passenger vehicle"
     ],
-    "28617035-7557-3cb9-99c2-754f72fd34b4": [
+    "4d324eb4-39f1-3837-9b97-c10db5d2b61d": [
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being tailgated while approaching stopped traffic",
+        "unattended stroller",
+        "vehicle sharing a lane with another vehicle",
         "group of people",
-        "the vehicle two cars in front of the ego vehicle",
-        "pedestrian between moving vehicles on both sides",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle crossing path of another vehicle",
+        "pedestrian walking alongside bollard",
+        "dog"
+    ],
+    "9b1da4e7-03a9-3277-91f3-ef6e610a6320": [
         "vehicle changing lanes while in bike lane",
+        "vehicle two vehicles ahead is braking",
+        "vehicle changing lanes to the right",
+        "vehicle accelerating while changing lanes",
+        "construction item on road",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle passing near person in wheelchair",
         "vehicle changing lanes through bike lane",
-        "pedestrian turning and watching the ego vehicle",
-        "left lane change while there is a vehicle to the left",
-        "vehicle accelerating more than two meters per second",
-        "bicycle in vehicle lane with vehicle",
-        "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing"
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle at a stop sign"
     ],
-    "8aad8778-73ce-3fa0-93c7-804ac998667d": [
-        "bicycle near a bus",
-        "pedestrian walking alongside stopped bus",
-        "bicyclist on intersection",
-        "car following closely behind bicyclist",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "motorcyclist braking hard",
-        "bicycle traveling alongside parked vehicles",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "oncoming vehicle changing lanes"
+    "83faae69-e37e-4804-b7a9-684d4a900320": [
+        "pedestrian to the left of a truck",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "accelerating truck",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle near message board trailer",
+        "truck sharing a lane with another truck",
+        "vehicle getting passed from the right",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk"
     ],
-    "d5d40b4c-48d9-3b68-903a-025eb0fa334d": [
-        "vehicle braking near pedestrian crossing",
-        "vehicle braking at pedestrian crossing",
-        "group of three people",
-        "vehicle navigating near multiple bicycles",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "car driving in bus lane",
-        "pedestrian walking alongside bollard",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus making right turn",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    "770a58e6-eff6-39b7-a265-fe7f202fe8b2": [
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "vehicle with multiple bicycles ahead",
+        "bicycle facing toward a vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "bicycle facing toward moving traffic",
+        "vehicle two vehicles ahead is turning",
+        "box truck with multiple construction cones to its right",
+        "bicycle following closely behind a vehicle",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle two cars ahead is changing lanes"
     ],
-    "5426cd2f-f4b9-3660-99d2-6617bb0f1b26": [
-        "active vehicle at stop sign",
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrians over 30 meters away",
-        "vehicle being followed by ego vehicle while being overtaken on right",
+    "7186d7d2-453e-4193-b327-72b66bbe3fd0": [
+        "accelerating passenger vehicle",
+        "ego vehicle near construction cone",
+        "person",
         "vehicle with multiple pedestrians to the left",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian walking past right side of vehicle",
-        "objects getting closer to the ego vehicle",
-        "motorcycle passing between parked vehicles",
-        "group of three people"
+        "group of people",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "motorcycle between two vehicles",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian"
     ],
-    "2451c219-3002-3b2e-8fa9-2b7fea168b3b": [
+    "90f360d8-35f7-3c54-b2da-e99b354bc4cb": [
         "jaywalking pedestrian",
         "pedestrian facing toward ego vehicle",
-        "vehicle accelerating aggressively",
-        "ego vehicle near construction cone",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian crossing ahead of ego vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "multiple pedestrians crossing ahead",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle being overtaken on the left"
+        "vehicles being passed by a motorcycle on either side",
+        "parked box trucks",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "box truck braking in front of ego vehicle",
+        "box truck at stop sign",
+        "vehicle to the back right of the ego vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "box trucks within 10 meters of an intersection"
     ],
-    "bee1146d-2e80-37e3-b08a-6ac8858e8973": [
-        "bus in bus lane",
-        "vehicle accelerating aggressively",
-        "bus with at least 3 pedestrians within 5 meters",
-        "car driving in bus lane",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "multiple buses within 50 meters ahead",
-        "pedestrian on intersection not using a crosswalk",
-        "bus with another bus in its lane",
-        "vehicle braking at pedestrian crossing",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+    "9afab336-dbae-3f70-a669-46813f4570d7": [
+        "ego vehicle approaching stopped truck",
+        "dog near pedestrian",
+        "pedestrian to the left of a truck",
+        "vehicle with animal in front",
+        "dog on roadway",
+        "ego vehicle approaching intersection with crossing dog",
+        "vehicle being overtaken on the right",
+        "dog near an intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "pedestrian walking alongside stopped bus"
     ],
-    "0526e68e-2ff1-3e53-b0f8-45df02e45a93": [
-        "vehicle hard braking with another vehicle ahead",
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian facing toward the bus",
-        "vehicle braking heavily",
+    "14f5485e-7417-3a5b-9be3-ec88461d03d4": [
+        "pedestrians facing each other at close range, possibly conversing",
+        "regular vehicle turning right",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle near construction barrel",
+        "car turning right",
+        "pedestrian walking alongside stopped bus",
         "jaywalking pedestrian",
-        "vehicle accelerating on intersection",
-        "pedestrian near bollard",
-        "vehicle being crossed by a pedestrian",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "bus in bus lane"
-    ],
-    "08bcc06e-3adf-3651-aa4d-d791004418ca": [
-        "box truck changing lanes ahead",
-        "left lane change while there is a vehicle to the left",
-        "making a left lane change while there is a vehicle to the right",
-        "truck on intersection",
-        "box truck changing lanes to the left",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is changing lanes",
-        "box trucks within 10 meters of an intersection",
-        "box truck changing lanes to the right",
-        "vehicle accelerating aggressively"
+        "pedestrians over 30 meters away",
+        "dog"
     ],
-    "928e282f-d1a0-3e85-9582-0b33664c49e8": [
-        "active vehicle at stop sign",
-        "bicycle passing by parked vehicle",
-        "car following closely behind bicyclist",
-        "vehicle with a bicycle to its right",
-        "bicycle facing toward a vehicle",
-        "bicycle facing toward moving traffic",
-        "bicycle traveling alongside parked vehicles",
-        "vehicle within 5 meters of a bicycle",
+    "b51561d9-08b0-3599-bc78-016f1441bb91": [
+        "vehicle navigating near multiple bicycles",
+        "bicycle and vehicle traveling in bike lane",
+        "bicycle near a bus",
+        "vehicle two cars ahead is braking",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "passenger vehicle turning right",
+        "vehicle with multiple bicycles ahead",
+        "motorcycle or pedestrian within 5 meters to the right",
         "vehicle braking at pedestrian crossing",
-        "ego vehicle two cars ahead of another vehicle"
-    ],
-    "56c24ed8-68c5-3a08-8e3c-19646ac670e5": [
-        "truck changing lanes to the right",
-        "truck on intersection",
-        "the vehicle two cars in front of the ego vehicle",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian walking alongside stopped bus",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle being tailgated while approaching stopped traffic",
-        "the vehicle two cars behind the ego vehicle",
-        "truck swerving near construction cones",
-        "pedestrian crossing in front of vehicle at crosswalk"
+        "vehicle facing and accelerating toward pedestrian on road"
     ],
-    "919f13de-857f-3b1c-9f8e-7cbe500a60ae": [
-        "ego vehicle with vehicles on both sides",
-        "pedestrian near bollard",
-        "vehicle two vehicles ahead is turning",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle stopped at construction barrel",
-        "vehicle changing lanes",
-        "ego vehicle near bollard",
-        "vehicle changing lanes while on an intersection",
-        "multiple pedestrians crossing ahead",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+    "03b2cf2d-fb61-36fe-936f-36bbf197a8ac": [
+        "group of pedestrians ahead of the ego vehicle",
+        "pedestrian crossing at bollard",
+        "stop sign behind a pedestrian",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "person",
+        "pedestrian walking past right side of vehicle",
+        "vehicle with animal in front",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "pedestrian near stop sign"
     ],
-    "3ca11a5e-50b2-3cc3-af7a-ce7ab02b9954": [
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "a group of people",
-        "vehicle stopped at construction barrel",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle being crossed by a pedestrian",
-        "vehicle near construction barrel",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "regular vehicle turning right",
-        "vehicle accelerating while changing lanes"
+    "5b1d8b11-4f90-3577-be0b-193e102fda82": [
+        "ego vehicle near construction barrel",
+        "pedestrians using designated crossing",
+        "vehicle braking heavily",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "bicycle near traffic cone",
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle passing official signaler"
     ],
-    "b6c04ab6-1c07-3e17-97d5-e870db090e52": [
-        "vehicle changing lanes while on an intersection",
-        "vehicle changing lanes to the right",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "dog near an intersection",
-        "vehicle being overtaken on the left",
-        "pedestrian near construction cone",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "pedestrian facing toward the bus",
-        "bus with multiple strollers in front",
-        "vehicle making a right turn"
+    "f41d0e8f-856e-3f7d-a3f9-ff5ba7c8e06d": [
+        "the active vehicle in front of the vehicle ahead",
+        "left lane change while there is a vehicle to the left",
+        "bicycle sharing lane as a regular vehicle",
+        "pedestrian crossing between bollards",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle approaching cyclist in same lane",
+        "bicycle behind a bus",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian with multiple dogs",
+        "bicycle near a bus"
     ],
-    "1ab241cf-f9c5-3f8a-88bd-4e14baad8ede": [
-        "vehicle accelerating on intersection",
-        "stop sign behind a pedestrian",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle accelerating aggressively",
+    "41c3597a-aab1-3123-85a1-dd5d459af461": [
+        "vehicle moving at crawling speed",
+        "bicyclist on intersection",
+        "semi truck within 30 meters ahead of ego vehicle",
         "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle changing lanes",
-        "pedestrian facing toward the bus",
-        "vehicle turning right with pedestrian in front"
+        "vehicle making a right turn",
+        "vehicle accelerating towards pedestrian crossing",
+        "moving bicycle directly to the left of the ego vehicle",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle facing toward parked vehicles"
     ],
-    "73539e96-eef2-3302-bdf4-a39e9d95b6e7": [
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle at intersection facing another vehicle",
+    "c08279c0-10b4-3d21-b13f-a1c1a0b87f8b": [
+        "pedestrian walking past right side of vehicle",
         "vehicle turning at intersection with nearby pedestrians",
-        "group of people",
-        "a group of people",
-        "vehicle getting passed from the right",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "passenger vehicle turning left at intersection",
-        "stroller with bollards on both sides"
-    ],
-    "648e8393-f46f-384b-9bd1-c25a2285077d": [
-        "jaywalking pedestrian",
-        "vehicle turning right with pedestrian in front",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle turning left",
+        "ego vehicle passing official signaler",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle traveling over 20 meters per second",
         "car turning right",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian between moving vehicles on both sides",
-        "group of three people",
-        "pedestrian near construction cone",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian walking between two stopped vehicles",
-        "multiple pedestrians crossing ahead"
+        "vehicle making a right turn"
     ],
-    "58d01358-5927-36fa-9e11-d18d1dc1f4f0": [
-        "pedestrian with multiple dogs",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "objects getting closer to the ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle making a right turn",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
+    "3a1b3424-700b-3b65-9e89-90772a8e24ea": [
         "vehicle braking near pedestrian crossing",
-        "vehicle accelerating aggressively"
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle at intersection facing another vehicle",
+        "vehicle crossing path of another vehicle",
+        "vehicle at a stop sign",
+        "city bus",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle turning while pedestrian crosses with stroller",
+        "pedestrian facing toward the bus",
+        "vehicle facing and heading toward pedestrian group"
     ],
-    "713ac3dd-8777-373d-b87d-f3dd9820320e": [
-        "bicycle passing by parked vehicle",
-        "ego vehicle with vehicles on both sides",
+    "b43d449e-daaf-33a1-bb7f-3f7a0b5f056c": [
+        "vehicle two cars ahead is changing lanes",
+        "pedestrian with multiple dogs",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "ego vehicle approaching stopped truck",
         "unattended dog",
-        "moving bicycle directly to the left of the ego vehicle",
-        "dog",
-        "object that hasn't moved",
-        "bicycle in vehicle lane with vehicle",
+        "vehicle being crossed by a pedestrian",
+        "accelerating vehicle changing lanes to the right",
         "dog near pedestrian",
-        "vehicle being overtaken on the left",
-        "vehicle making a right turn"
+        "dog",
+        "vehicle changing lanes while on an intersection"
     ],
-    "7ce85124-312b-35f0-a1a2-32206f75a947": [
-        "car with a stroller to its left",
-        "object that hasn't moved",
-        "stroller",
-        "vehicle with a bicycle to its right",
-        "ego vehicle with parked bicycles ahead",
-        "parked vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "pedestrian walking with stroller",
-        "vehicle moving at crawling speed",
-        "vehicle facing and heading toward pedestrian group"
+    "89f79c55-6698-3037-bd2e-d40c81af169a": [
+        "bicycle following closely behind a vehicle",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "bus in bus lane",
+        "pedestrians using designated crossing",
+        "vehicle in close proximity to bicycle",
+        "a group of people",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle turning right at stop sign",
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle approaching crossing pedestrians"
     ],
-    "5d062611-5417-3405-997c-1d1aefe4d85f": [
-        "objects getting closer to the ego vehicle",
-        "pedestrian crossing in front of cyclist near intersection",
-        "school bus on intersection",
-        "vehicle turning right with pedestrian in front",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "passenger vehicle turning left at intersection",
-        "vehicle turning while pedestrian crosses with stroller",
-        "vehicle passing school bus at stop"
+    "ce5033ee-e74e-354a-9299-8aaefbd03f59": [
+        "vehicle turning right at stop sign",
+        "vehicle being tailgated while approaching stopped traffic",
+        "box truck in bike lane",
+        "vehicle making a right turn",
+        "vehicle stopped at a stop sign",
+        "vehicle to the back right of the ego vehicle",
+        "school bus at pedestrian crossing",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right"
     ],
-    "f2b0585b-ada3-3123-963e-14df7d96ca9e": [
-        "vehicle two cars ahead is braking",
-        "pedestrian to the back-right of the ego vehicle",
-        "motorcycle at stop sign",
-        "motorcycle near stop sign",
-        "vehicle being overtaken on the left",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "the vehicle two cars behind the ego vehicle",
-        "pedestrian crossing between bollards",
+    "fa9ec72a-cbcf-35dc-be20-4d0d9e7215ef": [
+        "vehicle moving at crawling speed",
+        "vehicle near multiple bollards",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle accelerating while changing lanes",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "passenger vehicle turning right",
+        "oncoming vehicle changing lanes",
         "car turning right",
-        "at least active 2 vehicles within 15 meters behind ego vehicle"
+        "vehicle two vehicles ahead is at a stop sign",
+        "vehicle changing lanes"
     ],
-    "d8bd6071-f3ae-31fd-866a-9e6e4d6519e2": [
-        "moving bus to the front-left of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus with multiple pedestrians waiting on the right side",
+    "a3e09a66-a921-3c4a-89e6-7fecf6854a3a": [
+        "person",
+        "pedestrian walking past right side of vehicle",
+        "pedestrian walking with dog on sidewalk",
+        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle being overtaken on the right",
+        "pedestrians over 30 meters away",
+        "pedestrian turning and watching the ego vehicle",
         "car driving in bus lane",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "bus making right turn",
-        "bus in bus lane",
-        "passenger vehicle turning right",
-        "pedestrian approaching a parked vehicle"
+        "objects getting closer to the ego vehicle",
+        "pedestrian facing toward ego vehicle"
     ],
-    "c8cdffb0-7942-3ff5-9f71-210e095e1d31": [
-        "ego vehicle approaching crossing pedestrians",
-        "truck in the same lane as a bus",
-        "pedestrian walking with stroller",
-        "truck changing lanes to the right",
-        "pedestrian walking alongside stopped bus",
-        "vehicle turning right next to pedestrian with stroller",
+    "ac1b1697-42b9-4225-a666-d17f72204fa8": [
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "dog on roadway",
+        "traffic officer in roadway",
+        "vehicle being followed by ego vehicle while being overtaken on right",
         "vehicle passing truck with pedestrian crossing ahead",
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle two vehicles ahead is at a stop sign"
+        "vehicle braking at pedestrian crossing",
+        "vehicle braking near pedestrian crossing",
+        "vehicle accelerating on intersection",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle being passed on the left by another vehicle"
     ],
-    "c7f5e5c1-dc52-3619-8998-420b2e280d8a": [
-        "vehicle accelerating towards pedestrian crossing",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle near construction barrel",
+    "e7e178aa-931a-4674-9bff-9278a54e6aae": [
+        "pedestrian facing toward the bus",
+        "pedestrian crossing between bollards",
+        "pedestrian walking alongside bollard",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "truck on intersection",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "pedestrian crossing at bollard",
         "motorcyclist braking hard",
-        "vehicle accelerating aggressively",
-        "vehicle at intersection facing another vehicle",
-        "two cars back from the ego vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "passenger vehicle turning right"
-    ],
-    "5d55a63a-3146-32d9-89ec-e207e95ecbde": [
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "vehicle accelerating more than two meters per second",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle changing lanes to the left",
-        "accelerating passenger vehicle",
-        "left lane change while there is a vehicle to the left",
-        "vehicle turning right at stop sign",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle turning at intersection with nearby pedestrians"
-    ],
-    "adcf7d18-0510-35b0-a2fa-b4cea13a6d76": [
-        "truck in the same lane as a bus",
-        "vehicle within 5 meters of a bicycle",
-        "bus in bus lane",
-        "bus within 5 meters to either side of ego vehicle",
-        "ego vehicle near construction cone",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "bus changing lanes",
-        "bus in the same lane as a truck",
-        "pedestrian walking alongside stopped bus",
-        "truck swerving near construction cones"
+        "bus with another bus in its lane"
     ],
-    "67d00dd9-fd33-3518-85f5-e26353373c33": [
-        "truck without trailer",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "box truck braking in front of ego vehicle",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "parked box trucks",
-        "making a left lane change while there is a vehicle to the right",
-        "ego vehicle near bollard",
+    "ff52c01e-3d7b-32b1-b6a1-bcff3459ccdd": [
+        "bicycle in same lane as a vehicle",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "bicycle facing toward a vehicle",
+        "pedestrian to the left of a truck",
+        "bicycle on intersection",
         "ego vehicle following vehicle being overtaken on right",
-        "multiple buses within 50 meters ahead",
-        "pedestrian on intersection not using a crosswalk"
+        "bicyclist riding in vehicle lane",
+        "vehicle near multiple bollards",
+        "vehicle braking near pedestrian crossing",
+        "bicyclist on intersection"
     ],
-    "3ea6b5a0-510a-3157-ba88-5124d61280b0": [
-        "vehicle changing lanes while on an intersection",
-        "vehicle at intersection facing another vehicle",
-        "vehicle accelerating more than two meters per second",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle following another vehicle too closely",
-        "vehicle getting passed from the right",
+    "9239d493-31d7-3dd0-a05f-03d50a242392": [
+        "ego vehicle near construction barrel",
+        "vehicle approaching stopped vehicle at intersection",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle near construction barrel",
         "ego vehicle with vehicles on both sides",
-        "vehicle facing toward parked vehicles",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle changing lanes while in bike lane"
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle near articulated bus",
+        "vehicle being overtaken on the left",
+        "ego vehicle changing lanes near construction zone"
     ],
-    "d2c6775c-e0a0-3460-b1b8-8d0ce2e0ae4e": [
-        "vehicles being passed by a motorcycle on either side",
+    "f4cb6ba4-cd0f-30cc-9cc9-52bd14bfb3cc": [
+        "bicycle and vehicle traveling in bike lane",
+        "bicycle near traffic cone",
         "motorcycle near construction cone",
-        "vehicle changing lanes to the right",
-        "ego vehicle with box truck ahead and motorcycle behind",
-        "motorcycle overtaking a vehicle",
-        "vehicle crossing path of another vehicle",
-        "ego vehicle approaching stopped delivery truck",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian crossing at bollard"
-    ],
-    "cd2353c2-0fb6-3e18-8281-4c0df1d3189a": [
-        "dog near pedestrian",
-        "dog near an intersection",
-        "pedestrian walking with dog on sidewalk",
-        "dog on roadway",
+        "bicycle on intersection",
+        "bicycle following closely behind a vehicle",
+        "bicyclist within 3 meters on either side",
+        "vehicle facing toward parked vehicles",
         "bicycle traveling with vehicle traffic",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle in same lane as a vehicle",
         "bicycle sharing lane as a regular vehicle",
-        "group of three people",
-        "bicycle traveling alongside parked vehicles"
+        "ego vehicle approaching cyclist in same lane"
     ],
-    "3c51357e-f6e9-3cda-9036-fe6e6cd442fe": [
+    "13209193-55c7-3827-917e-e04460b8f49b": [
         "vehicle accelerating while changing lanes",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle two cars ahead is changing lanes",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle near construction barrel",
+        "group of people",
         "left lane change while there is a vehicle to the left",
-        "group of three people",
-        "vehicle traveling over 20 meters per second",
-        "pedestrian walking alongside bollard",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle"
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle braking heavily",
+        "vehicle accelerating on intersection",
+        "vehicle accelerating towards pedestrian crossing"
     ],
-    "aa539866-29e4-353e-95a9-b6d321b53b33": [
-        "bicycle near traffic cone",
-        "vehicle in close proximity to bicycle",
-        "bicycle near a bus",
-        "pedestrian crossing between bollards",
-        "multiple buses within 50 meters ahead",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian on road not facing traffic",
-        "bus with another bus in its lane",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle making a right turn"
+    "0b97f5dd-c396-3c02-b07d-b7fdbcb6c3d0": [
+        "vehicle two vehicles ahead is turning",
+        "passenger vehicle turning right",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle near construction barrel",
+        "ego vehicle approaching construction zone with traffic controller",
+        "vehicle turning left",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle facing toward parked vehicles",
+        "vehicle to the back right of the ego vehicle",
+        "ego vehicle near construction cone"
     ],
-    "84bb4b17-e7f2-3a1b-8c2b-6d6ec9a23e31": [
-        "ego vehicle near bollard",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "regular vehicle turning right",
-        "passenger vehicle swerving left",
-        "motorcycle between stopped vehicles",
+    "ccb4e29d-e88f-3fbe-8958-67cfd62350a3": [
+        "bicycle traveling against traffic",
+        "vehicle turning right with pedestrian in front",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "unattended dog",
         "passenger vehicle turning left at intersection",
-        "passenger vehicle turning right",
-        "pedestrian facing toward ego vehicle",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "group of three people"
+        "accelerating vehicle changing lanes to the right",
+        "unattended stroller",
+        "pedestrian walking past right side of vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "passenger vehicle turning right"
     ],
-    "00a6ffc1-6ce9-3bc3-a060-6006e9893a1a": [
-        "bus in bus lane",
-        "oncoming vehicle changing lanes",
-        "moving bus to the front-left of the ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+    "d0cc23f4-f4ab-3755-8e63-2e3940f68d89": [
+        "pedestrian on intersection not using a crosswalk",
+        "stopped car",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle at a stop sign",
+        "vehicle turning right at stop sign",
+        "pedestrian near bollard",
+        "dog on roadway",
+        "vehicle accelerating while changing lanes",
+        "vehicle stopped at a stop sign",
+        "ego vehicle passing official signaler"
+    ],
+    "0d8aab9f-4edf-3fb3-895a-ba64e8f2cfb2": [
+        "vehicle passing truck with pedestrian crossing ahead",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle being overtaken on the right",
+        "vehicle getting passed from the right",
+        "box trucks within 10 meters of an intersection",
+        "bus within 5 meters to either side of ego vehicle",
+        "construction item on road"
+    ],
+    "108d2060-8bef-3d1c-88c5-c8295f596595": [
+        "box truck near at least 3 construction cones",
+        "objects getting closer to the ego vehicle",
+        "ego vehicle near construction cone",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "ego vehicle near bollard",
+        "motorcycle in the same lane as a box truck",
+        "two cars back from the ego vehicle",
         "car driving in bus lane",
-        "vehicle with multiple construction cones on the left side",
-        "making a left lane change while there is a vehicle to the right",
-        "pedestrian walking alongside stopped bus",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+        "box truck in bike lane"
     ],
-    "2a9b2658-097e-3f8b-a817-22f2553c5de8": [
+    "b275d09d-9da2-380b-a748-528ee28bc9af": [
+        "vehicle with multiple construction cones on the left side",
+        "vehicle near multiple bollards",
+        "vehicle being overtaken while approaching another vehicle",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
         "the vehicle two cars in front of the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "pedestrians facing each other at close range, possibly conversing",
-        "passenger vehicle turning left at intersection",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "two cars back from the ego vehicle",
-        "vehicle two vehicles ahead is changing lanes"
+        "vehicle stopped at official signaler"
     ],
-    "72c31859-3676-3cbb-a773-0591d8d5799e": [
-        "pedestrian crossing at bollard",
-        "vehicle being crossed by a pedestrian",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "multiple pedestrians crossing ahead",
-        "motorcycle between two vehicles",
-        "pedestrian crossing ahead of ego vehicle",
+    "4d7b84b9-0a03-3aa1-83f0-4766013c3fb1": [
+        "stationary construction barrel",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "car driving in bus lane",
+        "a group of people",
+        "parked box trucks",
         "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle approaching crossing pedestrians",
-        "oncoming vehicle changing lanes",
-        "vehicle two cars ahead is braking"
+        "motorcycle between stopped vehicles",
+        "box truck braking in front of ego vehicle",
+        "pedestrian to the left of a truck",
+        "vehicle sharing a lane with another vehicle"
     ],
-    "c990cafc-f96c-3107-b213-01d217b11272": [
-        "vehicle being overtaken on the left",
-        "vehicle navigating near multiple bicycles",
-        "pedestrians facing each other at close range, possibly conversing",
-        "bicycle behind a bus",
-        "the vehicle two cars behind the ego vehicle",
-        "bicycle near a bus",
-        "dog near an intersection",
-        "vehicle crossing path of another vehicle",
-        "group of people",
-        "ego vehicle merging between two regular vehicles"
+    "8bc34c99-1b8f-3463-b0e7-12bf1eb222b3": [
+        "parked box trucks",
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian walking alongside bollard",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle moving at crawling speed",
+        "multiple buses within 50 meters ahead",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "box trucks within 10 meters of an intersection",
+        "vehicle turning left"
     ],
-    "6aa2ac89-6b25-3af6-ad59-221351189f4b": [
-        "vehicle being overtaken while approaching another vehicle",
+    "723147da-6beb-34cc-b1d7-2d4d3abc4d33": [
+        "pedestrian to the back-right of the ego vehicle",
+        "bus with another bus in its lane",
+        "ego vehicle near stroller on sidewalk",
         "multiple buses within 50 meters ahead",
-        "passenger vehicle turning left at intersection",
+        "motorcycle or pedestrian within 5 meters to the right",
         "moving bus to the front-left of the ego vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle being overtaken on the right",
-        "city bus",
+        "pedestrian facing toward the bus",
         "ego vehicle near articulated bus",
-        "two cars back from the ego vehicle",
-        "vehicle two vehicles ahead is changing lanes"
+        "box truck braking in front of ego vehicle",
+        "pedestrian walking alongside stopped bus"
     ],
-    "f84b4941-8e99-3957-b6f6-db1590338cf6": [
-        "parked box trucks",
-        "vehicle at a stop sign",
-        "construction item on road",
-        "ego vehicle near construction cone",
-        "the vehicle two cars behind the ego vehicle",
+    "16af3863-0d31-3cd1-8fa2-58053ffb953a": [
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "vehicle at intersection facing another vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
         "ego vehicle approaching stopped delivery truck",
-        "vehicle stopped at construction barrel",
-        "ego vehicle near construction barrel",
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian to the left of a truck"
+        "motorcycle at stop sign",
+        "pedestrian to the left of a truck",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle braking heavily"
     ],
-    "b1a98ad6-9b3e-35fb-afae-70b279fcbfc0": [
-        "a group of people",
+    "8e5022ed-87a9-4480-b2a7-a7c0494f5c7b": [
+        "vehicle being passed on the left by another vehicle",
+        "jaywalking pedestrian",
+        "dog",
+        "ego vehicle near construction cone",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "dog near pedestrian",
+        "ego vehicle two cars ahead of another vehicle",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle near multiple bollards"
+    ],
+    "7ad46cf0-aa12-4050-ac2d-cf34b5f64d41": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "bus with another bus in its lane",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "pedestrians using designated crossing",
+        "railed vehicle",
+        "passenger vehicle turning left at intersection",
+        "vehicle facing and accelerating toward pedestrian on road"
+    ],
+    "adc1fad7-de31-371f-810b-140576d9accc": [
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "motorcycle near stop sign",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "box truck braking in front of ego vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "dog near an intersection",
+        "vehicle two cars ahead is changing lanes",
         "motorcycle between two vehicles",
-        "vehicle with a bicycle to its right",
-        "motorcycle between stopped vehicles",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle near multiple bollards",
-        "bicycle near traffic cone",
-        "vehicle within 5 meters of a bicycle",
-        "pedestrian walking between two stopped vehicles",
-        "vehicle accelerating on intersection"
+        "motorcycle between stopped vehicles"
     ],
-    "2b044433-ddc1-3580-b560-d46474934089": [
-        "ego vehicle near bollard",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian crossing at bollard",
-        "dog on roadway",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian walking with dog on sidewalk"
+    "8ee606e6-4cbd-3c07-8419-fbda836ccaac": [
+        "pedestrian near stop sign",
+        "ego vehicle changing lanes near construction zone",
+        "dog near pedestrian",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "bicycle traveling with vehicle traffic",
+        "dog near an intersection",
+        "car following closely behind bicyclist",
+        "bicycle facing toward a vehicle",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "bicyclist riding in vehicle lane"
     ],
-    "49a9df80-ab0a-31fb-9341-a79f7b0258dd": [
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "ego vehicle near bollard",
-        "objects getting closer to the ego vehicle",
-        "ego vehicle near construction cone",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian crossing in front of cyclist near intersection",
+    "e28c16d0-084a-3dc4-aad4-9d157ca528de": [
         "bicycle near traffic cone",
-        "bicycle and vehicle traveling in bike lane",
-        "ego vehicle approaching crossing pedestrians",
-        "bicyclist within 3 meters on either side"
+        "ego vehicle near articulated bus",
+        "ego vehicle approaching stopped truck",
+        "car following closely behind bicyclist",
+        "motorcycle near construction cone",
+        "moving bus being crossed by a bicycle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle maneuvering between construction barriers",
+        "bicycle crossing vehicle path at intersection",
+        "motorcyclist traveling opposite to bicycle traffic"
     ],
-    "35a15c5c-fa4a-3838-a724-396e112ec95c": [
-        "vehicle two vehicles ahead is turning",
-        "vehicle turning right with pedestrian in front",
+    "27fba275-0b37-3033-b20d-8f9848f78b1c": [
+        "vehicle to the back right of the ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "pedestrians over 30 meters away",
         "two cars back from the ego vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle in close proximity to bicycle",
-        "vehicle turning right with pedestrian waiting",
-        "pedestrian near construction cone",
-        "regular vehicle turning right",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle at a stop sign",
+        "ego vehicle two cars ahead of another vehicle",
+        "moving bus to the front-left of the ego vehicle",
+        "motorcyclist traveling opposite to bicycle traffic"
+    ],
+    "67d5fb0a-baf8-32f4-9316-18ce755f3e8b": [
+        "bicyclist on intersection",
         "bicycle near traffic cone",
-        "pedestrian near stop sign"
+        "vehicle surrounded by bicycles on all sides",
+        "car following closely behind bicyclist",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "motorcycle at stop sign",
+        "motorcycle near stop sign",
+        "parked box trucks",
+        "box trucks within 10 meters of an intersection"
     ],
-    "08734a1b-0289-3aa3-a6ba-8c7121521e26": [
+    "0b1b993a-68b3-3232-9afa-fc9942b5b79b": [
+        "ego vehicle near stroller on sidewalk",
+        "truck cab with trailer sharing lane with regular vehicle",
         "motorcyclist",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "bicycle following closely behind a vehicle",
-        "bicycle facing toward moving traffic",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "motorcycle between two vehicles",
-        "motorcycle overtaking a vehicle",
-        "ego vehicle near construction cone"
-    ],
-    "7d3f2f76-2f4f-3762-bf0f-f94f79eb0404": [
-        "vehicle with multiple bicycles ahead",
-        "stationary construction barrel",
-        "multiple buses within 50 meters ahead",
-        "pedestrians using designated crossing",
-        "dog",
-        "vehicle approaching stopped vehicle at intersection",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle stopped at a stop sign",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle"
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle traveling over 20 meters per second",
+        "vehicle accelerating towards pedestrian crossing",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle accelerating more than two meters per second",
+        "unattended stroller",
+        "stroller"
     ],
-    "12c3c14b-9cf2-3434-9a5d-e0bfa332f6ce": [
-        "school bus on intersection",
-        "pedestrian near stop sign",
+    "c453a8e7-d3da-317a-946b-f8e9678a8582": [
+        "ego vehicle approaching intersection with crossing dog",
+        "motorcyclist",
+        "vehicle accelerating more than two meters per second",
+        "pedestrian crossing at bollard",
+        "dog crossing in front of vehicle",
+        "vehicle with animal in front",
         "pedestrian walking with dog on sidewalk",
-        "dog near pedestrian",
-        "box trucks within 10 meters of an intersection",
-        "dog",
-        "school bus at pedestrian crossing",
-        "truck on intersection",
-        "pedestrian walking alongside stopped bus",
-        "vehicle being followed by ego vehicle while being overtaken on right"
+        "active vehicle at stop sign",
+        "dog on roadway",
+        "ego vehicle approaching construction zone with traffic controller"
     ],
-    "db447b86-8103-3ee4-93de-2c838ba061dc": [
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle with multiple construction cones on the left side",
-        "stop sign behind a pedestrian",
-        "pedestrian to the left of a truck",
-        "pedestrian near stop sign",
-        "stopped car",
-        "ego vehicle approaching stopped truck",
-        "pedestrian to the back-right of the ego vehicle",
+    "0ab21841-0c08-3bae-8424-daa9b336683f": [
+        "box truck braking in front of ego vehicle",
         "ego vehicle near construction cone",
-        "vehicle being tailgated while approaching stopped traffic"
-    ],
-    "a50b198c-4de2-3f8c-a2b9-ab280605b350": [
-        "bus with multiple pedestrians waiting on the right side",
-        "the vehicle two cars behind the ego vehicle",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "bus changing lanes",
-        "motorcycle overtaking a vehicle",
-        "vehicle being overtaken on the right"
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "pedestrian walking alongside bollard",
+        "motorcycle in bike lane",
+        "passenger vehicle near stroller in road",
+        "making a left lane change while there is a vehicle to the right",
+        "pedestrian crossing ahead of ego vehicle",
+        "stroller in the same lane as a regular vehicle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
     ],
-    "71d1938d-536e-39eb-beb4-bb4f5b607427": [
-        "truck cab with trailer sharing lane with regular vehicle",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "bicycle facing toward moving traffic",
-        "motorcyclist braking hard",
-        "truck without trailer",
-        "bicycle facing toward a vehicle",
-        "bicycle passing by parked vehicle",
-        "bicycle traveling alongside parked vehicles",
+    "41d69427-364c-366e-94a5-8e556bcac39f": [
+        "pedestrian walking with dog on sidewalk",
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian crossing in front of vehicle at crosswalk",
         "regular vehicle turning right",
-        "bicyclist riding in vehicle lane"
-    ],
-    "63a006b5-07c8-375d-98e3-21466f5b9c6a": [
-        "jaywalking pedestrian",
-        "multiple pedestrians crossing ahead",
-        "dog near pedestrian",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "dog near an intersection",
-        "vehicle stopped at a stop sign",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle turning right with pedestrian waiting"
-    ],
-    "c85ebc24-0934-3423-9c14-f0fdbee64b68": [
-        "vehicle facing toward parked vehicles",
-        "vehicle changing lanes through bike lane",
-        "vehicle changing lanes while in bike lane",
-        "the vehicle two cars in front of the ego vehicle",
+        "pedestrian near construction cone",
+        "vehicle with multiple pedestrians to the left",
+        "box trucks within 10 meters of an intersection",
+        "vehicle near message board trailer",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "accelerating passenger vehicle",
-        "vehicle at intersection facing another vehicle",
-        "regular vehicle turning right",
-        "ego vehicle with parked bicycles ahead"
+        "pedestrian in front of a bicyclist who is to the left of a vehicle"
     ],
-    "f648b945-6c70-3105-bd23-9502894e37d4": [
-        "vehicle two cars ahead is braking",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle being overtaken on the right",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle changing lanes while on an intersection",
-        "vehicle braking heavily",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian between moving vehicles on both sides"
+    "8184872e-4203-3ff1-b716-af5fad9233ec": [
+        "bus changing lanes",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "box truck braking in front of ego vehicle",
+        "ego vehicle approaching stopped truck",
+        "truck in the same lane as a bus",
+        "vehicle two cars ahead is changing lanes"
     ],
-    "fb0c5970-dbf7-4c77-b3b6-2c8cc41b9d6f": [
-        "parked vehicle",
-        "pedestrians over 30 meters away",
-        "vehicle at intersection facing another vehicle",
-        "vehicle facing toward parked vehicles",
+    "a7bcdabb-f9b7-3c16-806d-3ddf1c2d49a2": [
+        "bicycle following closely behind a vehicle",
+        "vehicle with multiple bicycles ahead",
+        "vehicle accelerating more than two meters per second",
+        "vehicles being passed by a motorcycle on either side",
+        "car following closely behind bicyclist",
+        "bicycle facing toward a vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle turning left with a bicycle in front of it",
+        "bicycle facing toward moving traffic",
+        "ego vehicle with box truck ahead and motorcycle behind"
+    ],
+    "f3f8f680-e471-3662-a06a-0c00e6d88f43": [
+        "pedestrian crossing between bollards",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle turning right with pedestrian in front",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian walking alongside bollard",
+        "ego vehicle passing official signaler",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle being overtaken on the left",
+        "accelerating vehicle changing lanes to the right",
+        "stopped vehicles at intersection being crossed by pedestrians"
+    ],
+    "14c8d182-9586-3f21-ad20-c4e19ec03e2c": [
+        "pedestrian on road not facing traffic",
+        "vehicle stopped at construction barrel",
+        "vehicle stopped at official signaler",
+        "vehicle getting passed from the right",
+        "pedestrian with multiple dogs",
+        "vehicle two vehicles ahead is braking",
         "stationary construction barrel",
-        "box trucks within 10 meters of an intersection",
-        "the vehicle two cars behind the ego vehicle",
-        "turning left",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "truck on intersection"
+        "ego vehicle changing lanes to the left",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle facing and accelerating toward pedestrian on road"
     ],
-    "7ca43466-7107-33ae-95d6-26d7af132e87": [
-        "left lane change while there is a vehicle to the left",
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "pedestrian between moving vehicles on both sides",
+    "4e391f98-31a6-330d-9252-d02aab82f5db": [
         "group of three people",
-        "pedestrian near construction cone",
-        "jaywalking pedestrian",
-        "pedestrians using designated crossing",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle changing lanes through bike lane"
+        "left lane change while there is a vehicle to the left",
+        "oncoming vehicle changing lanes",
+        "box truck at stop sign",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "pedestrian crossing between bollards",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian near construction cone"
     ],
-    "991d11df-0265-3e41-b942-5b0c615d21e2": [
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle accelerating aggressively",
-        "vehicle changing lanes to the right",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle changing lanes",
-        "vehicle being overtaken on the left",
-        "vehicle traveling over 20 meters per second",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+    "828ddef2-7609-3683-8e32-c21e7c07d6a6": [
+        "bicycle on intersection",
+        "bicyclist on intersection",
+        "bus within 5 meters to either side of ego vehicle",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "bicycle facing toward moving traffic",
+        "ego vehicle with parked bicycles ahead",
+        "pedestrian to the left of a truck",
+        "vehicle braking at pedestrian crossing",
+        "box truck changing lanes to the left",
+        "car following closely behind bicyclist"
     ],
-    "c94991c0-3662-3936-972c-1af63db486d8": [
-        "vehicle facing the ego vehicle",
-        "vehicle being overtaken on the left",
-        "two cars back from the ego vehicle",
-        "vehicle following another vehicle too closely",
+    "45433055-2b69-3cff-8135-67b3bfa04034": [
+        "vehicle two cars ahead is changing lanes",
+        "car turning right",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
         "vehicle at intersection facing another vehicle",
-        "stroller",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian with multiple dogs",
-        "bicycle between two vehicles traveling in same direction"
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle turning right next to pedestrian with stroller",
+        "two cars back from the ego vehicle",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "40870b19-3356-3e8e-a4a4-9f34eef8ea30": [
+    "890cf3b7-3385-390c-8b2e-132c744b5d2d": [
+        "ego vehicle near bollard",
         "vehicle maneuvering between construction barriers",
-        "school bus on intersection",
-        "vehicle passing school bus at stop",
-        "box truck changing lanes ahead",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle turning right near construction zone",
-        "box truck changing lanes to the right",
+        "unattended stroller",
+        "bus with at least 3 pedestrians within 5 meters",
+        "pedestrians using designated crossing",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "pedestrian walking alongside bollard",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle with a bicycle to its right",
+        "ego vehicle with parked bicycles ahead"
+    ],
+    "4487b659-692e-3b35-9d1e-a230279ed646": [
         "vehicle approaching pedestrians waiting at a crosswalk",
-        "box truck in the same lane as a school bus",
-        "vehicles approaching stopped school bus with children nearby"
+        "vehicle crossing path of another vehicle",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle changing lanes while in bike lane",
+        "vehicle changing lanes while on an intersection",
+        "vehicle being overtaken on the left",
+        "vehicle changing lanes through bike lane",
+        "unattended dog",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle being overtaken on the right"
     ],
-    "bb110668-5037-3c04-bd34-34cf1ace8d0f": [
-        "vehicle following another vehicle too closely",
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle with a bicycle to its right",
-        "pedestrian facing toward ego vehicle",
-        "bicycle on intersection",
-        "truck on intersection",
-        "bicyclist riding in vehicle lane",
-        "vehicle traveling over 20 meters per second",
-        "pedestrian walking alongside bollard",
-        "bicycle traveling alongside parked vehicles"
+    "8de6abb6-6589-3da7-8e21-6ecc80004a36": [
+        "group of people",
+        "bicycle facing toward a vehicle",
+        "jaywalking pedestrian",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "truck changing lanes to the right",
+        "car driving in bus lane",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicycle near a bus",
+        "group of pedestrians ahead of the ego vehicle",
+        "bus in bus lane"
     ],
-    "91923e20-9a05-32e0-ac53-8c09b0b60341": [
-        "vehicle with multiple construction cones on the left side",
-        "bicycle behind a bus",
+    "75a9cbdf-0bec-39f9-b536-5b37aacadf96": [
+        "ego vehicle approaching crossing pedestrians",
+        "bicycle traveling against traffic",
+        "lane splitting motorcycle",
+        "motorcyclist braking hard",
         "bicycle and vehicle traveling in bike lane",
-        "bus making right turn",
-        "bicycle near traffic cone",
-        "vehicle turning left while bicycle crosses from right",
-        "bicycle near a bus",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bicycle traveling against traffic"
+        "school bus on intersection",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "motorcycle between stopped vehicles",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "box truck changing lanes ahead"
     ],
-    "b5ea60b0-2540-4efe-b60e-f421ade3c128": [
-        "ego vehicle changing lanes near construction zone",
-        "bicycle near traffic cone",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle near construction barrel",
-        "construction item on road",
-        "stationary construction barrel",
-        "vehicle in close proximity to bicycle",
-        "vehicle stopped at construction barrel",
+    "3c27dfaf-1624-39d2-9075-158824ed8e8c": [
+        "vehicle approaching and facing a stopped vehicle at an intersection",
         "vehicle crossing path of another vehicle",
-        "group of at least 3 moving bicyclists within 5 meters of each other"
+        "bicycle traveling with vehicle traffic",
+        "vehicle accelerating while changing lanes",
+        "city bus",
+        "a group of people",
+        "vehicle accelerating on intersection",
+        "oncoming vehicle changing lanes",
+        "pedestrian facing away from the ego vehicle",
+        "pedestrian facing toward ego vehicle"
     ],
-    "f54c1d50-48a3-4651-bfb0-50b87f13dc9e": [
-        "pedestrian to the left of a truck",
-        "ego vehicle approaching stopped truck",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle changing lanes near message board trailer",
-        "vehicle near message board trailer",
-        "ego vehicle changing lanes near construction zone",
-        "ego vehicle changing lanes to the left",
-        "vehicle maneuvering between construction barriers",
-        "ego vehicle passing message board trailer in construction zone",
-        "pedestrian near message board trailer"
+    "23808d42-e4df-3a0d-b713-fe20e09a4f39": [
+        "bicycle traveling against traffic",
+        "bicycle traveling with vehicle traffic",
+        "bicycle on intersection",
+        "bicyclist riding in vehicle lane",
+        "truck on intersection",
+        "ego vehicle approaching crossing pedestrians",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "bicycle in vehicle lane with vehicle",
+        "bicyclist within 3 meters on either side"
     ],
-    "8c019de9-7043-37bc-9498-b5858e7240af": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
+    "c96a09c8-46ed-391f-8a66-c46fa8b76029": [
+        "vehicle passing school bus at stop",
         "ego vehicle with vehicles on both sides",
-        "vehicle getting passed from the right",
-        "object that hasn't moved",
-        "passenger vehicle swerving left",
-        "vehicle being overtaken on the right",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "accelerating vehicle changing lanes to the right",
-        "bus with multiple pedestrians waiting on the right side",
-        "moving bus to the front-left of the ego vehicle"
+        "active vehicle at stop sign",
+        "vehicle at a stop sign",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "car turning right",
+        "vehicle braking near pedestrian crossing",
+        "vehicle making a right turn",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle turning right at stop sign"
     ],
-    "e123ba3f-99bd-3039-b6e7-8c62eaebf9c2": [
-        "parked box trucks",
-        "making a left lane change while there is a vehicle to the right",
-        "ego vehicle with parked bicycles ahead",
+    "b9fcb487-363e-30a7-a316-a42dd81d8fe5": [
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "pedestrian turning and watching the ego vehicle",
+        "motorcycle between stopped vehicles",
+        "moving wheelchair within 5 meters of an intersection",
+        "stationary construction barrel",
+        "passenger vehicle turning left at intersection",
+        "stop sign behind a pedestrian",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "motorcycle overtaking a vehicle"
+    ],
+    "65d3f43d-1969-35d4-bf86-bd5e4b1ac803": [
+        "vehicle turning right with pedestrian waiting",
+        "box trucks within 10 meters of an intersection",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "pedestrian on intersection not using a crosswalk",
+        "stopped vehicles at intersection being crossed by pedestrians",
         "pedestrian near bollard",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "ego vehicle two cars ahead of another vehicle",
-        "ego vehicle with vehicles on both sides",
-        "box truck braking in front of ego vehicle",
-        "pedestrian between moving vehicles on both sides",
-        "box truck in bike lane"
+        "ego vehicle approaching pedestrian at crosswalk",
+        "motorcycle between stopped vehicles",
+        "stroller in the same lane as a regular vehicle",
+        "vehicle turning at intersection with nearby pedestrians"
     ],
-    "5d391e54-adec-3584-adf0-5025d7564e1b": [
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle moving at crawling speed",
-        "ego vehicle changing lanes to the left",
-        "vehicle near construction barrel",
-        "vehicle facing away from the ego vehicle",
-        "objects getting closer to the ego vehicle",
-        "motorcycle between two vehicles",
+    "d3efe9ba-f10a-35e7-b17e-6850c66693fe": [
+        "box truck near at least 3 construction cones",
         "vehicle being tailgated while approaching stopped traffic",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle crossing path of another vehicle",
+        "school bus on intersection",
+        "stopped car",
+        "bicycle traveling with vehicle traffic",
+        "accelerating passenger vehicle",
+        "vehicle turning left",
+        "regular vehicles that are stopped or nearly stopped"
+    ],
+    "9807c577-0dc0-3116-864b-cf46a1276389": [
+        "vehicle stopped at construction barrel",
+        "bicycle passing by parked vehicle",
+        "truck on intersection",
+        "truck without trailer",
         "vehicle approaching stopped vehicle at intersection",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+        "truck changing lanes to the right",
+        "multiple buses within 50 meters ahead",
+        "ego vehicle merging between two regular vehicles",
+        "bus changing lanes",
+        "bus making right turn"
     ],
-    "ab83611b-436e-3de7-aad1-f0c9ad254196": [
-        "pedestrian walking alongside stopped bus",
-        "vehicle being overtaken while approaching another vehicle",
+    "3d7743c1-c0a5-3ab2-976e-84af93270f30": [
+        "truck changing lanes to the right",
+        "box trucks within 10 meters of an intersection",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrian crossing at bollard",
+        "vehicle with multiple bicycles ahead",
+        "vehicle two vehicles ahead is at a stop sign",
+        "pedestrian walking past right side of vehicle",
+        "box truck at stop sign",
         "vehicle stopped at a stop sign",
-        "active vehicle at stop sign",
-        "motorcycle near construction cone",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle with multiple construction cones on the left side",
-        "pedestrian walking with stroller",
-        "vehicle approaching stopped vehicle at intersection",
-        "moving bus to the front-left of the ego vehicle"
+        "pedestrian near stop sign"
     ],
-    "453e5558-6363-38e3-bf9b-42b5ba0a6f1d": [
-        "pedestrian between moving vehicles on both sides",
+    "087fec73-1a0c-399a-9292-cc2cf99dc97f": [
+        "vehicle with multiple construction cones on the left side",
         "vehicle at a stop sign",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrian near construction cone",
-        "passenger vehicle turning left at intersection",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle being tailgated while approaching stopped traffic",
-        "ego vehicle changing lanes to the left",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "bicycle following closely behind a vehicle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle accelerating while changing lanes",
+        "making a left lane change while there is a vehicle to the right",
+        "ego vehicle near construction cone",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle facing and accelerating toward pedestrian on road"
     ],
-    "bec0f69b-832c-3898-b589-0127ddc282f3": [
-        "vehicle changing lanes while on an intersection",
-        "pedestrian crossing at bollard",
-        "pedestrian walking alongside bollard",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle changing lanes",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle changing lanes to the right",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian approaching a parked vehicle",
-        "pedestrian to the back-right of the ego vehicle"
+    "d58d55ea-f30c-3622-8303-1574616b9865": [
+        "bicycle passing by parked vehicle",
+        "bicycle traveling against traffic",
+        "bicyclist on intersection",
+        "ego vehicle approaching intersection with crossing dog",
+        "bicycle in vehicle lane with vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "bicycle traveling alongside parked vehicles",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicycle sharing lane as a regular vehicle",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
     ],
-    "fdb0578d-4fa7-37a7-b60d-5472b4d39136": [
-        "ego vehicle in dense traffic with lane-changing vehicles",
+    "422dd53b-6010-4eb9-8902-de3d134c5a70": [
+        "accelerating truck",
+        "vehicle with multiple pedestrians to the left",
+        "ego vehicle near articulated bus",
+        "vehicle changing lanes through bike lane",
+        "vehicle turning at intersection with nearby pedestrians",
+        "stationary construction barrel",
+        "pedestrian walking alongside stopped bus",
+        "pedestrian facing away from the ego vehicle",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicles being passed by a motorcycle on either side"
+    ],
+    "5c1db299-e2a2-35e5-84dd-acda8fb393bc": [
+        "bicycle traveling against traffic",
+        "pedestrian walking alongside stopped bus",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle with multiple construction cones on the left side",
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle changing lanes near construction zone",
-        "ego vehicle approaching stopped delivery truck",
-        "bicycle facing toward a vehicle",
-        "vehicle stopped at construction barrel",
-        "ego vehicle near construction barrel",
-        "pedestrian to the left of a truck",
-        "vehicle in close proximity to bicycle",
-        "bicycle near traffic cone"
+        "vehicle between two bicycles while on pedestrian crossing",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle turning left with a bicycle in front of it",
+        "oncoming vehicle changing lanes",
+        "ego vehicle following vehicle that is being overtaken on the right"
     ],
-    "d0ba7a1b-f5ca-39d6-98d0-29c671baec65": [
-        "vehicle being overtaken on the right",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "passenger vehicle near stroller in road",
-        "vehicle approaching stopped vehicle at intersection",
+    "fd5c6932-2ee2-3cfb-9bdc-0b30bfb33a91": [
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "motorcycle passing between parked vehicles",
+        "vehicle changing lanes while on an intersection",
         "vehicle changing lanes",
+        "vehicle changing lanes through bike lane",
+        "vehicle braking at pedestrian crossing",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle being tailgated while approaching stopped traffic",
+        "bicycle traveling alongside construction indicators",
+        "oncoming vehicle changing lanes"
+    ],
+    "812a45e8-b5d9-389b-9151-09c57ce969df": [
+        "vehicle navigating near multiple bicycles",
+        "vehicle getting passed from the right",
+        "stroller with bollards on both sides",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle hard braking with another vehicle ahead",
         "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle turning right next to pedestrian with stroller",
-        "vehicle being overtaken on the left",
-        "bicycle near a bus",
-        "bus in bus lane"
+        "vehicle two vehicles ahead is turning",
+        "bus with multiple strollers in front"
     ],
-    "098fe60e-bab0-32e2-89bc-bedced881911": [
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian to the back-right of the ego vehicle",
-        "box truck braking in front of ego vehicle",
+    "982bcae9-1840-37f4-9278-3dbb63031aac": [
+        "the vehicle two cars behind the ego vehicle",
+        "stopped car",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "pedestrian walking alongside bollard",
+        "vehicle two cars ahead is braking",
+        "vehicle changing lanes to the right",
+        "accelerating vehicle changing lanes to the right",
+        "pedestrian with multiple dogs",
+        "pedestrian near stop sign",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+    ],
+    "555a7659-ffce-39df-ba06-d9fcb2f812f0": [
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "left lane change while there is a vehicle to the left",
+        "a group of people",
+        "truck on intersection",
+        "motorcyclist braking hard",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "pedestrian near construction cone",
+        "vehicle changing lanes while in bike lane",
+        "passenger vehicle turning right",
+        "vehicle two cars ahead is being crossed by a pedestrian"
+    ],
+    "ba737c78-2ef2-3643-a5b2-4804dfff9d93": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
         "parked box trucks",
-        "vehicle turning left with a bicycle in front of it",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "making a left lane change while there is a vehicle to the right",
+        "bus with multiple pedestrians waiting on the right side",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "car following closely behind bicyclist",
+        "bicyclist on intersection",
         "moving bicycle directly to the left of the ego vehicle",
-        "bicyclist riding in vehicle lane",
-        "vehicle facing and accelerating toward pedestrian on road",
-        "pedestrian walking past right side of vehicle"
+        "pedestrians using designated crossing"
     ],
-    "d72c43a5-95bf-3a3e-9019-cf25cc0a61c0": [
-        "vehicle crossing path of another vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is changing lanes",
-        "stopped car",
-        "vehicle hard braking with another vehicle ahead",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "motorcycle between two vehicles",
-        "vehicle changing lanes while on an intersection",
+    "490f13c4-4c1f-3e3b-8a9f-0f27c6906b4e": [
+        "construction item on road",
         "motorcycle in the same lane as a box truck",
-        "vehicle two vehicles ahead is turning"
+        "person",
+        "vehicle facing and heading toward pedestrian group",
+        "two cars back from the ego vehicle",
+        "pedestrians using designated crossing",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "a group of people",
+        "motorcyclist"
     ],
-    "95a47a36-1041-3924-bbd0-4dcad52c323a": [
-        "vehicle with multiple construction cones on the left side",
-        "pedestrian near bollard",
-        "ego vehicle near bollard",
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "motorcycle near construction cone",
-        "pedestrian walking alongside bollard",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle changing lanes near bicycle while approaching stop sign"
+    "8f317f00-f8b4-325e-a5c7-e4045427a610": [
+        "pedestrian on road not facing traffic",
+        "vehicle passing near person in wheelchair",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "ego vehicle approaching crossing pedestrians",
+        "motorcyclist",
+        "group of pedestrians ahead of the ego vehicle",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "group of people",
+        "bicyclist within 3 meters on either side",
+        "vehicle two vehicles ahead is being crossed by a pedestrian"
     ],
-    "76c3f58f-9003-3bdb-90a3-b87cfbfa1c3b": [
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle near construction barrel",
-        "regular vehicle turning right",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle two cars ahead is changing lanes",
-        "regular vehicle turning right"
+    "e4279e3e-b7e1-3f43-aeef-2bfa2836dab6": [
+        "pedestrian crossing between bollards",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "bus within 5 meters to either side of ego vehicle",
+        "truck in the same lane as a bus",
+        "car driving in bus lane",
+        "vehicle two cars ahead is braking",
+        "bicyclist changing lanes to the right",
+        "bus changing lanes",
+        "group of three people",
+        "bus in bus lane"
     ],
-    "73d86f1c-5e5c-3842-b671-7f29c78ccc55": [
-        "passenger vehicle turning right",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "regular vehicles that are stopped or nearly stopped",
-        "stopped car",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+    "9efe1171-6faf-3427-8451-8f6469f7678e": [
+        "bus with multiple pedestrians waiting on the right side",
+        "ego vehicle near construction cone",
+        "a group of people",
         "construction item on road",
-        "car turning right",
-        "stationary construction barrel",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian on intersection not using a crosswalk"
+        "vehicle within 5 meters of a bicycle",
+        "vehicle two vehicles ahead is turning",
+        "bus with at least 3 pedestrians within 5 meters",
+        "pedestrian on road not facing traffic",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "bicyclist riding in vehicle lane"
+    ],
+    "b7fbc13b-47ff-3e3f-a363-86d60ba664b8": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "ego vehicle near construction cone",
+        "vehicle navigating near multiple bicycles",
+        "motorcyclist",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle braking near pedestrian crossing",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle changing lanes",
+        "vehicle changing lanes to the right",
+        "vehicle changing lanes while on an intersection"
     ],
-    "f4c6ade0-7b9e-4ad7-8d86-13d2f4c91499": [
-        "passenger vehicle swerving left",
-        "oncoming vehicle changing lanes",
+    "d26b95e4-d200-34e2-92c9-c16fda4cd9dd": [
         "vehicle being overtaken on the left",
-        "vehicle accelerating on intersection",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle being overtaken on the right",
+        "vehicle getting passed from the right",
+        "vehicle braking at pedestrian crossing",
+        "school bus on intersection",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle braking heavily",
+        "vehicle in close proximity to bicycle",
+        "stopped car",
         "vehicle being overtaken while approaching another vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle navigating near multiple bicycles",
-        "bus within 5 meters to either side of ego vehicle"
+        "vehicle following another vehicle too closely"
     ],
-    "389069d7-e6db-3d22-9328-e228c002bf75": [
+    "31f062b7-dd17-3e7e-945d-198e91597de9": [
+        "pedestrian facing toward ego vehicle",
+        "pedestrian walking past right side of vehicle",
+        "vehicle at intersection facing another vehicle",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrians over 30 meters away",
+        "person",
+        "stopped car",
+        "pedestrians facing each other at close range, possibly conversing",
+        "two cars back from the ego vehicle",
+        "pedestrian facing toward the bus"
+    ],
+    "53f5011b-2a8f-3a73-9d86-805462bb542d": [
+        "vehicle approaching stopped vehicle at intersection",
+        "bus changing lanes",
+        "pedestrian crossing in front of vehicle at crosswalk",
         "pedestrian walking alongside stopped bus",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "bicycle in same lane as a vehicle",
-        "vehicle two vehicles ahead is turning"
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking alongside bollard",
+        "bus making right turn",
+        "pedestrian facing toward the bus",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle two vehicles ahead is changing lanes"
     ],
-    "64b24fd1-f639-4f7e-a535-dbfe9fd737a1": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "passenger vehicle turning right",
-        "car turning right",
-        "stopped car",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle making a right turn",
+    "eec8ae97-8de4-354a-b11a-d3a14b276479": [
+        "motorcycle in bike lane",
+        "pedestrians over 30 meters away",
+        "ego vehicle near construction barrel",
+        "ego vehicle near construction cone",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "person",
+        "vehicle braking heavily",
+        "vehicle maneuvering between construction barriers",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle braking near jaywalking pedestrian or stroller"
+    ],
+    "937093d8-7966-3df3-b334-0835595412b6": [
+        "vehicle braking at pedestrian crossing",
+        "vehicle braking near pedestrian crossing",
+        "vehicle turning right near construction zone",
+        "pedestrian to the left of a truck",
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle near construction cone",
+        "box truck near at least 3 construction cones",
+        "vehicle two vehicles ahead is braking",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle maneuvering between construction barriers"
+    ],
+    "abd4fe8d-7520-3b35-b8ac-4de367141b6f": [
+        "box truck changing lanes ahead",
+        "vehicle braking at pedestrian crossing",
+        "vehicle with a bicycle to its right",
+        "motorcyclist",
+        "vehicle braking near pedestrian crossing",
+        "vehicle stopped at a stop sign",
+        "vehicle in close proximity to bicycle",
+        "vehicle changing lanes while in bike lane",
+        "active vehicle at stop sign",
+        "vehicle within 5 meters of a bicycle"
+    ],
+    "f7cf93d8-f7bd-3799-8500-fbe842a96f63": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "ego vehicle near bollard",
+        "pedestrians over 30 meters away",
         "objects getting closer to the ego vehicle",
+        "pedestrian walking past right side of vehicle",
+        "ego vehicle with vehicles on both sides",
+        "vehicle turning left while bicycle crosses from right",
+        "moving bus to the front-left of the ego vehicle",
+        "person"
+    ],
+    "349c4c1c-9561-360f-9ae7-59772335d54b": [
+        "any vehicle in front of stop sign",
+        "car driving in bus lane",
+        "person",
         "group of three people",
-        "bicycle traveling against traffic"
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle with a bicycle to its right",
+        "stationary construction barrel",
+        "vehicle facing and heading toward pedestrian group",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian to the left of a truck"
     ],
-    "b66a9b8e-8fa8-3409-907f-a70ebd7051e1": [
+    "c2f301b6-5d19-3296-a8ac-418ff48e052b": [
+        "the active vehicle in front of the vehicle ahead",
         "vehicle turning left while bicycle crosses from right",
-        "motorcycle near construction cone",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicyclist changing lanes to the right",
-        "bicycle passing by parked vehicle",
-        "pedestrian crossing at bollard",
-        "vehicle accelerating towards pedestrian crossing",
-        "motorcycle between stopped vehicles",
-        "vehicle turning right with pedestrian in front",
-        "motorcyclist braking hard"
+        "vehicle changing lanes to the right",
+        "dog near pedestrian",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle making a right turn",
+        "vehicle turning left",
+        "dog on roadway",
+        "city bus"
     ],
-    "29080565-8133-3274-80cf-6ea98078e50d": [
-        "vehicle accelerating on intersection",
-        "ego vehicle approaching stopped delivery truck",
-        "vehicle accelerating more than two meters per second",
-        "pedestrian to the left of a truck",
-        "vehicle at a stop sign",
-        "truck on intersection",
+    "8911207d-fc3d-3009-bb35-18138197724f": [
+        "vehicle turning right at stop sign",
+        "motorcyclist braking hard",
+        "ego vehicle near stroller on sidewalk",
+        "vehicle turning at intersection with nearby pedestrians",
+        "stop sign behind a pedestrian",
+        "bicycle traveling with vehicle traffic",
+        "pedestrian near bollard",
+        "active vehicle at stop sign",
         "vehicle stopped at a stop sign",
-        "parked box trucks",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle passing truck with pedestrian crossing ahead"
+        "vehicle facing toward a pedestrian at a crosswalk"
     ],
-    "b6c86134-d7e6-3af6-9db5-8aba3df4f7a7": [
-        "pedestrian walking with stroller",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "car driving in bus lane",
-        "pedestrian walking past right side of vehicle",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "stroller",
-        "vehicle being crossed by a pedestrian",
-        "pedestrians using designated crossing",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle two cars ahead is braking"
+    "e1e9d341-716f-3613-9ec2-2201c72361af": [
+        "oncoming vehicle changing lanes",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle stopped at construction barrel",
+        "two cars back from the ego vehicle",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle following another vehicle too closely",
+        "the vehicle two cars behind the ego vehicle",
+        "box truck braking in front of ego vehicle",
+        "dog on roadway"
     ],
-    "b5f3900c-b421-3032-aef2-2e91a69d1163": [
-        "motorcycle between two vehicles",
-        "bicycle crossing vehicle path at intersection",
-        "car following closely behind bicyclist",
-        "bicycle traveling against traffic",
-        "bicyclist on intersection",
-        "bicyclist riding in vehicle lane",
-        "bicycle traveling alongside parked vehicles",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "pedestrian approaching a parked vehicle",
-        "vehicle turning left with a bicycle in front of it"
+    "3c58172c-7a07-3ad4-bdf6-7cae60928c56": [
+        "stop sign behind a pedestrian",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle two vehicles ahead is turning",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle facing toward parked vehicles",
+        "multiple pedestrians crossing ahead",
+        "moving bus being crossed by a bicycle"
     ],
-    "74ec2f62-9d57-39a9-bf88-97006f64ee5c": [
-        "pedestrian on intersection not using a crosswalk",
-        "multiple motorcycles ahead of the ego vehicle",
-        "vehicle being overtaken while approaching another vehicle",
-        "pedestrian crossing between bollards",
-        "bus with another bus in its lane",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian walking alongside bollard",
-        "ego vehicle near bollard",
-        "motorcycle near stop sign",
-        "pedestrian crossing at bollard"
+    "df738339-958b-31fb-8e48-a4380f4c538a": [
+        "bicycle traveling alongside parked vehicles",
+        "parked box trucks",
+        "bicycle facing toward a vehicle",
+        "vehicle two cars ahead is braking",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "bicycle facing toward moving traffic",
+        "truck changing lanes to the right",
+        "vehicle in close proximity to bicycle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
     ],
-    "b0663029-8f8d-398a-8a28-81ba29224696": [
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "pedestrian walking with stroller",
+    "4619e709-c9c0-3b26-923f-23a78e231136": [
+        "ego vehicle approaching crossing pedestrians",
         "pedestrian crossing at bollard",
-        "vehicle changing lanes while on an intersection",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian crossing ahead of ego vehicle",
-        "bicycle between two vehicles traveling in same direction"
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "two cars back from the ego vehicle",
+        "dog on roadway",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "construction item on road",
+        "vehicle changing lanes",
+        "pedestrian walking with stroller",
+        "box truck braking in front of ego vehicle"
     ],
-    "e7547e4c-1ebc-3428-8964-a5b91e81098e": [
-        "vehicle accelerating more than two meters per second",
-        "object that hasn't moved",
-        "city bus",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle turning left with a bicycle in front of it",
-        "oncoming vehicle changing lanes",
-        "parked vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "ego vehicle two cars ahead of another vehicle"
+    "ed6ad297-ee09-3532-bcfc-c16ad5a05c49": [
+        "vehicle stopped at official signaler",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "any vehicle in front of stop sign",
+        "active vehicle at stop sign",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle two vehicles ahead is turning",
+        "the vehicle two cars behind the ego vehicle",
+        "objects getting closer to the ego vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle approaching and facing a stopped vehicle at an intersection"
     ],
-    "79cb0109-4c92-3ede-8849-76cc6824b95a": [
-        "bicyclist changing lanes to the right",
-        "motorcycle between two vehicles",
-        "motorcyclist",
-        "motorcycle passing between parked vehicles",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle accelerating towards pedestrian crossing",
-        "bicycle in vehicle lane with vehicle",
-        "motorcycle between stopped vehicles",
-        "vehicle two cars ahead is braking",
-        "bicyclist within 3 meters on either side"
+    "d33f667d-7b6c-39aa-9ba9-eac2fa615ae1": [
+        "bicycle sharing lane as a regular vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle surrounded by bicycles on all sides",
+        "bicycle traveling with vehicle traffic",
+        "bicycle in same lane as a vehicle",
+        "vehicle traveling over 20 meters per second",
+        "bicycle traveling against traffic",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle passing by parked vehicle",
+        "bicycle traveling alongside construction indicators"
     ],
-    "429dedd9-2d51-385d-9661-b15f4027e34d": [
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle changing lanes near message board trailer",
-        "pedestrian near construction cone",
+    "768cf7e2-eb6c-3468-969e-e3b0fd87b34e": [
+        "passenger vehicle turning right",
+        "passenger vehicle turning left at intersection",
+        "vehicle two vehicles ahead is turning",
+        "ego vehicle two cars ahead of another vehicle",
+        "objects getting closer to the ego vehicle",
+        "construction item on road",
+        "vehicle turning right near construction zone",
+        "two cars back from the ego vehicle",
+        "vehicle two vehicles ahead is braking",
+        "bicycle traveling with vehicle traffic"
+    ],
+    "3dd173a6-8b21-3189-bd53-132919b96a48": [
         "pedestrian between moving vehicles on both sides",
-        "box truck changing lanes to the left",
-        "vehicle facing and heading toward pedestrian group",
-        "pedestrian to the left of a truck",
         "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian near message board trailer",
-        "stroller with bollards on both sides"
-    ],
-    "e331aa95-3660-3c71-be9e-030bab0b8ee2": [
-        "pedestrian walking alongside bollard",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "ego vehicle approaching stopped truck",
-        "vehicle accelerating while changing lanes",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrian near bollard",
-        "truck on intersection",
-        "vehicle with multiple construction cones on the left side",
-        "ego vehicle approaching crossing pedestrians",
-        "box truck changing lanes to the right"
+        "vehicle navigating near multiple bicycles",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "pedestrian on road not facing traffic",
+        "motorcycle overtaking a vehicle",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian facing toward ego vehicle",
+        "bicycle near school bus",
+        "vehicle stopped at official signaler"
     ],
-    "b436606f-daa4-337f-8103-4360bf4704d9": [
-        "bus changing lanes",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle near construction cone",
-        "accelerating truck",
+    "44200521-4cad-3a5d-8568-e0f3f1ca24d4": [
+        "construction barrel with at least 2 construction cones within 3 meters",
         "moving bus to the front-left of the ego vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "pedestrian near stop sign",
-        "truck changing lanes to the right",
-        "box truck changing lanes ahead",
-        "bus in bus lane"
+        "vehicle being tailgated while approaching stopped traffic",
+        "stationary construction barrel",
+        "construction item on road",
+        "vehicle turning right near construction zone",
+        "box trucks within 10 meters of an intersection",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "ego vehicle near construction barrel"
     ],
-    "fd4e2c4c-f7e9-3110-8e32-28d3add3937d": [
-        "turning left",
-        "vehicle braking heavily",
-        "vehicle with multiple pedestrians to the left",
-        "the active vehicle in front of the vehicle ahead",
-        "active vehicle at stop sign",
+    "3b68c074-1680-3a93-92e5-5b711406f2fe": [
+        "construction item on road",
+        "moving bus to the front-left of the ego vehicle",
+        "group of pedestrians ahead of the ego vehicle",
+        "dog on roadway",
+        "pedestrians facing each other at close range, possibly conversing",
         "vehicle turning right at stop sign",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle stopped at a stop sign",
+        "the vehicle two cars behind the ego vehicle",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle at a stop sign"
+    ],
+    "70e92418-e4e6-32a2-98c8-9844b1c24f92": [
+        "construction item on road",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
         "any vehicle in front of stop sign",
-        "vehicle being crossed by a pedestrian",
-        "pedestrian near bollard"
+        "motorcycle between two vehicles",
+        "vehicle two vehicles ahead is braking",
+        "vehicle two cars ahead is braking",
+        "group of people",
+        "vehicle navigating near multiple bicycles",
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle in dense traffic with lane-changing vehicles"
     ],
-    "0c143226-9c39-387c-a935-1391bed6dc75": [
+    "6ee14358-31cb-3c6d-82f5-54d6a20444de": [
+        "any vehicle in front of stop sign",
+        "vehicle near message board trailer",
+        "person",
+        "truck sharing a lane with another truck",
+        "vehicle with a bicycle to its right",
+        "regular vehicles that are stopped or nearly stopped",
+        "objects getting closer to the ego vehicle",
+        "active vehicle at stop sign",
+        "vehicle stopped at a stop sign",
+        "vehicle accelerating on intersection"
+    ],
+    "106d962b-911d-354d-961d-9abe93119b9c": [
+        "motorcycle passing between parked vehicles",
+        "multiple buses within 50 meters ahead",
         "bicyclist on intersection",
-        "construction item on road",
-        "bus making right turn",
-        "bicyclist within 3 meters on either side",
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle accelerating aggressively",
-        "bus changing lanes",
-        "bicyclist riding in vehicle lane",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "motorcycle near stop sign"
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "box truck braking in front of ego vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "bicycle in same lane as a vehicle",
+        "bicycle traveling with vehicle traffic",
+        "car with a stroller to its left"
     ],
-    "c67a748c-1e93-3a6d-be38-daedf175f911": [
-        "bicycle facing toward moving traffic",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle with multiple bicycles ahead",
-        "car following closely behind bicyclist",
+    "7a17d467-9f29-3706-8e40-32bb7fb033de": [
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bus in the same lane as a truck",
+        "bicycle on intersection",
+        "multiple pedestrians crossing ahead",
+        "bicycle passing by parked vehicle",
+        "bicycle traveling alongside construction indicators",
         "bicycle sharing lane as a regular vehicle",
-        "bicycle in same lane as a vehicle",
-        "bicycle near traffic cone",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "vehicle between two bicycles while on pedestrian crossing"
+        "motorcycle between stopped vehicles",
+        "bicyclist within 3 meters on either side",
+        "bicycle near traffic cone"
     ],
-    "dad3e145-2f70-357f-813e-703936927fe2": [
-        "the active vehicle in front of the vehicle ahead",
-        "object that hasn't moved",
-        "pedestrian to the left of a truck",
-        "regular vehicles that are stopped or nearly stopped",
-        "dog near pedestrian",
-        "pedestrian facing toward ego vehicle",
-        "stationary object",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "regular vehicle turning right",
-        "pedestrian on road not facing traffic"
+    "eb69a196-fb43-3ddf-9bbe-9d55fa1e8200": [
+        "ego vehicle following vehicle being overtaken on right",
+        "multiple pedestrians crossing ahead",
+        "ego vehicle near stroller on sidewalk",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle navigating near multiple bicycles",
+        "pedestrian crossing between bollards",
+        "box truck in bike lane",
+        "vehicle with multiple pedestrians to the left",
+        "group of three people",
+        "ego vehicle with parked bicycles ahead"
     ],
-    "52c9e613-61b3-3d17-9f6d-b28de8a14829": [
-        "vehicle turning right near construction zone",
-        "stationary construction barrel",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "left lane change while there is a vehicle to the left",
-        "objects getting closer to the ego vehicle",
+    "5d40499f-c9be-38b9-a0cb-cd234850ba85": [
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "ego vehicle near construction barrel",
         "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "bicycle near traffic cone",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "vehicle stopped at construction barrel"
+        "left lane change while there is a vehicle to the left",
+        "vehicle changing lanes to the right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "lane splitting motorcycle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "bicycle facing toward moving traffic",
+        "pedestrian facing toward ego vehicle"
     ],
-    "99a3270d-c5c5-3df7-9a2d-a612c8104d0e": [
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "group of people",
-        "group of pedestrians ahead of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian with multiple dogs",
-        "pedestrian to the back-right of the ego vehicle",
-        "object that hasn't moved",
-        "motorcycle in bike lane",
-        "oncoming vehicle changing lanes"
+    "5ccb359a-2986-466c-88b2-a16f51774a8f": [
+        "vehicle two cars ahead is braking",
+        "stationary construction barrel",
+        "bicycle near traffic cone",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle two vehicles ahead is braking",
+        "vehicle accelerating while changing lanes",
+        "vehicle maneuvering between construction barriers",
+        "wheelchair user at pedestrian crossing",
+        "vehicle being overtaken on the right",
+        "regular vehicles that are stopped or nearly stopped"
     ],
-    "66a40dcc-4de0-3f72-bff0-ca543ac5019d": [
-        "vehicle turning right with pedestrian in front",
-        "car turning right",
-        "vehicle making a right turn",
-        "dog",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "unattended dog",
-        "pedestrian turning and watching the ego vehicle",
-        "dog near pedestrian",
-        "pedestrian on intersection not using a crosswalk"
+    "e453f164-dd36-3f1a-9471-05c2627cbaa5": [
+        "pedestrian approaching a parked vehicle",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle two cars ahead is braking",
+        "vehicle hard braking with another vehicle ahead",
+        "pedestrian walking alongside stopped bus",
+        "ego vehicle two cars ahead of another vehicle",
+        "group of three people",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "ego vehicle approaching crossing pedestrians"
     ],
-    "95acebfe-c694-3dab-9e6d-01cb501ff426": [
-        "vehicle near multiple bollards",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "truck sharing a lane with another truck",
-        "vehicle facing the ego vehicle",
-        "active vehicle at stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle moving at crawling speed",
-        "vehicle two vehicles ahead is changing lanes",
-        "turning left"
+    "cdd752d0-caee-3d95-b1db-7fc20cbbc783": [
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "moving bus being crossed by a bicycle",
+        "parked box trucks",
+        "bus with at least 3 pedestrians within 5 meters",
+        "dog near an intersection",
+        "group of people",
+        "ego vehicle approaching stopped truck",
+        "pedestrians using designated crossing",
+        "vehicle at a stop sign",
+        "moving bus to the front-left of the ego vehicle"
     ],
-    "5c7ee953-d8b0-33ef-a491-0bb716763cfe": [
-        "bus changing lanes",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "bus in bus lane",
-        "objects getting closer to the ego vehicle",
-        "truck in the same lane as a bus",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "vehicle turning left while pedestrian crosses at crosswalk",
+    "b48d6d4b-f0dd-35da-850d-36a715691e2f": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "pedestrian with wheelchair at crosswalk",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "any vehicle in front of stop sign",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle two vehicles ahead is at a stop sign",
+        "semi truck within 30 meters ahead of ego vehicle"
+    ],
+    "ede387f4-f390-3f0e-a071-eb543b73ed73": [
+        "bus with at least 3 pedestrians within 5 meters",
         "vehicle braking heavily",
-        "pedestrian crossing between stopped buses"
+        "vehicle two cars ahead is braking",
+        "motorcyclist braking hard",
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "motorcycle near construction cone",
+        "motorcyclist",
+        "vehicles being passed by a motorcycle on either side",
+        "truck on intersection"
     ],
-    "a783b484-437b-3569-bd44-4f83ad9e05cf": [
-        "vehicle changing lanes to the right",
-        "passenger vehicle swerving left",
-        "box trucks within 10 meters of an intersection",
-        "vehicle being overtaken on the left",
-        "truck on intersection",
-        "vehicle changing lanes while on an intersection",
+    "3f9796e9-c892-3915-b719-3292df878ece": [
+        "bicycle near traffic cone",
+        "vehicle with animal in front",
         "vehicle accelerating towards pedestrian crossing",
-        "vehicle two cars ahead is changing lanes",
+        "vehicle two cars ahead is braking",
+        "pedestrian near stop sign",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrian walking with dog on sidewalk",
+        "ego vehicle with vehicles on both sides",
+        "dog on roadway",
+        "semi truck within 30 meters ahead of ego vehicle"
+    ],
+    "35f32393-e82f-3b20-b214-1f6a43d60f23": [
         "pedestrian facing toward ego vehicle",
-        "multiple pedestrians crossing ahead"
+        "pedestrian walking with stroller",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "vehicle with animal in front",
+        "the vehicle two cars in front of the ego vehicle",
+        "bicycle facing toward moving traffic",
+        "bicycle traveling with vehicle traffic",
+        "motorcycle near stop sign",
+        "stroller",
+        "motorcyclist braking hard"
     ],
-    "2583a8ee-867d-3db6-b039-35b913fb8f70": [
-        "vehicle stopped at construction barrel",
-        "truck sharing a lane with another truck",
-        "parked box trucks",
-        "vehicle turning right near construction zone",
-        "pedestrian crossing between bollards",
-        "group of three people",
+    "9d65b03d-b59d-3a45-ba66-e313d3cdab40": [
+        "wheelchair user at pedestrian crossing",
+        "dog crossing in front of vehicle",
         "stationary construction barrel",
-        "ego vehicle approaching stopped delivery truck",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "ego vehicle changing lanes near construction zone"
-    ],
-    "af170aac-8465-3d7b-82c5-64147e94af7d": [
-        "ego vehicle changing lanes to the left",
-        "vehicle facing toward parked vehicles",
-        "truck without trailer",
-        "vehicle getting passed from the right",
-        "vehicle being crossed by a pedestrian",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "pedestrian walking alongside bollard",
-        "vehicle accelerating while changing lanes"
-    ],
-    "4690ea1e-224a-35e9-a984-8332295f2b00": [
-        "vehicle being overtaken on the right",
-        "accelerating passenger vehicle",
-        "bus with another bus in its lane",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle getting passed from the right",
-        "vehicle following another vehicle too closely",
-        "vehicle with multiple pedestrians to the left",
-        "group of people",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle near mobile pedestrian sign"
-    ],
-    "8940f5f1-13e0-3094-99ba-da2d17639774": [
-        "bus with another bus in its lane",
-        "vehicle braking at pedestrian crossing",
+        "pedestrian walking with dog on sidewalk",
+        "pedestrian approaching a parked vehicle",
+        "stopped vehicles at intersection being crossed by pedestrians",
         "bus with multiple pedestrians waiting on the right side",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "construction item on road",
-        "vehicle braking near pedestrian crossing",
-        "ego vehicle near stroller on sidewalk",
+        "pedestrian walking with stroller",
         "stroller",
-        "multiple pedestrians crossing ahead",
-        "car turning right"
+        "dog on roadway"
     ],
-    "f5a3ee79-a131-3f8a-91e9-a6475d778149": [
-        "bus making right turn",
-        "pedestrian crossing between bollards",
-        "vehicle turning left while pedestrian crosses at crosswalk",
+    "80f31501-6533-3257-9870-b0c4dbf61967": [
+        "vehicle two vehicles ahead is braking",
+        "vehicle changing lanes to the right",
+        "vehicle facing toward a pedestrian at a crosswalk",
         "vehicle two cars ahead is changing lanes",
-        "vehicle accelerating towards pedestrian crossing",
-        "bus within 5 meters to either side of ego vehicle",
-        "bus changing lanes",
-        "unattended stroller",
-        "ego vehicle changing lanes to the left",
-        "ego vehicle passing parked bus"
-    ],
-    "3cd2847c-604e-32b4-af19-6cd0da0dcdc5": [
-        "vehicle with multiple pedestrians to the left",
-        "vehicle crossing path of another vehicle",
-        "vehicle at a stop sign",
         "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "jaywalking pedestrian",
-        "vehicle in close proximity to bicycle",
-        "a group of people",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "turning left",
-        "vehicle turning right with pedestrian in front"
+        "vehicle changing lanes",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle changing lanes while on an intersection",
+        "pedestrian crossing between bollards",
+        "pedestrian near stop sign"
     ],
-    "32edd7c7-8a8f-360d-bcda-83ecf431e3e6": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicles being passed by a motorcycle on either side",
-        "lane splitting motorcycle",
-        "passenger vehicle swerving left",
-        "motorcycle near construction cone",
-        "vehicle accelerating while changing lanes",
-        "two cars back from the ego vehicle",
-        "vehicle accelerating aggressively",
-        "dog running in the road",
-        "pedestrian crossing between bollards"
+    "05fb81ab-5e46-3f63-a59f-82fc66d5a477": [
+        "bus with multiple pedestrians waiting on the right side",
+        "group of three people",
+        "vehicle with multiple bicycles ahead",
+        "pedestrian on road not facing traffic",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle turning while pedestrian crosses with stroller",
+        "pedestrian facing toward the bus",
+        "pedestrian approaching a parked vehicle",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
     ],
-    "5f5a25ff-ea07-3133-b5c6-26fada93f90f": [
-        "vehicle making a right turn",
-        "regular vehicle turning right",
-        "vehicle changing lanes while in bike lane",
-        "vehicle turning right with pedestrian in front",
-        "car turning right",
-        "vehicle changing lanes through bike lane",
+    "1d43ed4e-e705-308a-bdfa-49d99285c42a": [
+        "pedestrian turning and watching the ego vehicle",
+        "moving bus to the front-left of the ego vehicle",
+        "pedestrian walking past right side of vehicle",
+        "bus with multiple pedestrians waiting on the right side",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian crossing between bollards",
         "passenger vehicle turning left at intersection",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle accelerating towards pedestrian crossing",
-        "dog running in the road"
+        "vehicle two cars ahead is braking",
+        "pedestrians facing each other at close range, possibly conversing",
+        "construction item on road"
     ],
-    "9946b521-ea55-3c52-9fd1-71afc3abf3c6": [
+    "0a132537-3aec-35bb-af13-7faa0811000d": [
+        "vehicle turning right with pedestrian in front",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "stop sign behind a pedestrian",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian facing toward ego vehicle",
+        "group of pedestrians ahead of the ego vehicle",
+        "regular vehicles that are stopped or nearly stopped",
+        "regular vehicle turning right",
+        "vehicle braking at pedestrian crossing",
+        "vehicle facing and accelerating toward pedestrian on road"
+    ],
+    "087695bd-c662-3e86-83b4-aedc3b8eec36": [
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle facing and heading toward pedestrian group",
+        "jaywalking pedestrian",
+        "vehicle facing toward parked vehicles",
         "vehicle stopped at construction barrel",
-        "vehicle traveling in the opposite direction as the ego vehicle",
+        "ego vehicle near construction cone",
+        "accelerating vehicle changing lanes to the right",
         "vehicle near construction barrel",
-        "stationary construction barrel",
-        "passenger vehicle swerving left",
-        "ego vehicle near construction barrel",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle facing and accelerating toward pedestrian on road"
+        "passenger vehicle turning left at intersection"
     ],
-    "7f7e4709-7596-35f9-89ac-d808178b1533": [
-        "vehicle navigating near multiple bicycles",
-        "vehicles being passed by a motorcycle on either side",
-        "bicycle near traffic cone",
-        "vehicle with multiple bicycles ahead",
-        "vehicle with a bicycle to its right",
+    "93c97162-a834-3331-b15c-e4ab278b1c6d": [
         "motorcyclist",
-        "vehicle in close proximity to bicycle",
-        "vehicle within 5 meters of a bicycle",
-        "pedestrian walking between two stopped vehicles",
-        "ego vehicle approaching crossing pedestrians"
-    ],
-    "6ee06433-4820-3211-999a-95b79b2c692e": [
-        "vehicle sharing a lane with another vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle traveling over 20 meters per second",
-        "vehicle changing lanes",
-        "vehicle changing lanes to the right",
-        "school bus on intersection",
-        "ego vehicle approaching crossing pedestrians"
+        "vehicle approaching stopped vehicle at intersection",
+        "passenger vehicle turning left at intersection",
+        "vehicle two vehicles ahead is turning",
+        "box truck with multiple construction cones to its right",
+        "motorcycle between stopped vehicles",
+        "motorcycle between two vehicles",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle two vehicles ahead is braking",
+        "truck sharing a lane with another truck"
     ],
-    "6dadba1d-0f67-345b-bc5e-407ab8f7654c": [
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle getting passed from the right",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle moving at crawling speed",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "moving pedestrian within 3 meters to the left of ego vehicle"
+    "4d9e3bdf-7216-3161-8281-72863f3c2bf6": [
+        "wheelchair user at pedestrian crossing",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle stopped at official signaler",
+        "truck without trailer",
+        "vehicle turning left with a bicycle in front of it",
+        "bicyclist riding in vehicle lane",
+        "bicyclist changing lanes to the right",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle traveling against traffic",
+        "bicycle crossing vehicle path at intersection"
     ],
-    "de586ff4-3413-367d-befc-ad022b73592b": [
-        "motorcycle between stopped vehicles",
+    "3c3ed78e-1fcf-30ec-9e19-9bf142e2621d": [
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "school bus at pedestrian crossing",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "railed vehicle",
+        "school bus on intersection",
         "pedestrian walking with stroller",
-        "motorcycle near construction cone",
+        "multiple buses within 50 meters ahead",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle"
+    ],
+    "a8a3297d-62f3-31ac-8db7-95ef53ce0d31": [
+        "vehicle traveling over 20 meters per second",
+        "truck without trailer",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "active vehicle at stop sign",
+        "motorcyclist braking hard",
+        "vehicle accelerating on intersection",
         "vehicles being passed by a motorcycle on either side",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrian to the back-right of the ego vehicle",
-        "stroller with bollards on both sides",
-        "stop sign behind a pedestrian",
-        "motorcycle passing between parked vehicles",
-        "ego vehicle approaching crossing pedestrians"
+        "bicyclist changing lanes to the right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle approaching and facing a stopped vehicle at an intersection"
     ],
-    "8c52d911-fe34-3424-9864-d3fdfac38064": [
-        "bicycle traveling alongside parked vehicles",
-        "pedestrian crossing between bollards",
-        "moving bicycle directly to the left of the ego vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle on intersection",
-        "bicycle and vehicle traveling in bike lane",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "group of three people",
-        "accelerating passenger vehicle"
+    "87918291-e9ba-3759-be1a-4c874ca40997": [
+        "car driving in bus lane",
+        "vehicle being overtaken on the left",
+        "vehicle braking near pedestrian crossing",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle two cars ahead is braking",
+        "vehicle braking at pedestrian crossing",
+        "vehicle near multiple bollards",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle two vehicles ahead is braking"
     ],
-    "1c7d3b85-6cec-373c-a4eb-5137d7cc6a7c": [
-        "motorcycle near construction cone",
-        "box truck braking in front of ego vehicle",
-        "pedestrian to the left of a truck",
-        "bicycle passing by parked vehicle",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "bicycle traveling against traffic",
-        "ego vehicle approaching stopped delivery truck",
+    "4a789b07-7578-36ec-89cd-68b01e0737fb": [
+        "pedestrian walking alongside stopped bus",
+        "vehicle accelerating on intersection",
+        "car driving in bus lane",
+        "pedestrian facing toward ego vehicle",
+        "bus with at least 3 pedestrians within 5 meters",
+        "construction item on road",
         "parked box trucks",
-        "vehicle changing lanes near group of cyclists",
-        "bus changing lanes"
+        "ego vehicle approaching intersection with crossing dog",
+        "bus in bus lane",
+        "ego vehicle with parked bicycles ahead"
     ],
-    "382cf8af-6c8d-3ed9-907b-12214d2c7cb0": [
-        "vehicle accelerating more than two meters per second",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle accelerating on intersection",
+    "e1450d07-faed-3d97-b674-c6f8d2498d80": [
+        "pedestrian walking past right side of vehicle",
+        "vehicle facing toward parked vehicles",
+        "dog on roadway",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle surrounded by bicycles on all sides",
+        "dog",
+        "vehicle turning right at stop sign",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
         "any vehicle in front of stop sign",
+        "objects getting closer to the ego vehicle"
+    ],
+    "aed1b616-9d9a-36d3-a047-07ad3955fbb7": [
         "bus within 5 meters to either side of ego vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "pedestrians over 30 meters away",
-        "vehicle at a stop sign",
+        "dog",
+        "bicyclist on intersection",
+        "ego vehicle approaching stopped delivery truck",
+        "ego vehicle changing lanes to the left",
         "pedestrian on road not facing traffic",
-        "vehicle turning right at stop sign"
+        "bicycle sharing lane as a regular vehicle",
+        "bicyclist riding in vehicle lane",
+        "ego vehicle near construction barrel",
+        "motorcyclist traveling opposite to bicycle traffic"
     ],
-    "2ec904db-41aa-397c-a1e3-2e2ca0c8e8fb": [
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle accelerating on intersection",
-        "two cars back from the ego vehicle",
-        "vehicle changing lanes while in bike lane",
-        "construction item on road",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle changing lanes through bike lane",
-        "vehicle maneuvering between construction barriers",
-        "vehicle near construction barrel"
+    "7a1412d3-5a53-378f-85df-ba58b2408f46": [
+        "vehicle two vehicles ahead is braking",
+        "motorcycle in bike lane",
+        "vehicle changing lanes to the right",
+        "vehicle turning right with pedestrian in front",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle near construction barrel",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle hard braking with another vehicle ahead",
+        "ego vehicle near construction barrel",
+        "vehicle turning left with a bicycle in front of it"
     ],
-    "e2043284-6122-3cc9-a7e7-f091a16361b7": [
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle following vehicle being overtaken on right",
+    "bb25d7d0-9146-46a0-8ff1-ebfc25d63417": [
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "box trucks within 10 meters of an intersection",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle near construction cone",
+        "bicyclist changing lanes to the right",
+        "pedestrian near construction cone"
+    ],
+    "022af476-9937-3e70-be52-f65420d52703": [
+        "motorcyclist braking hard",
+        "motorcycle in bike lane",
+        "motorcyclist",
         "vehicle changing lanes through bike lane",
-        "ego vehicle with vehicles on both sides",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "ego vehicle two cars ahead of another vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "pedestrian turning and watching the ego vehicle",
-        "bus with at least 3 pedestrians within 5 meters"
+        "vehicle changing lanes while in bike lane",
+        "oncoming vehicle changing lanes",
+        "car turning right",
+        "school bus on intersection",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle moving at crawling speed"
     ],
-    "1a7e18b5-d8dc-371d-be5f-03a37b113e81": [
-        "semi truck within 30 meters ahead of ego vehicle",
-        "truck in the same lane as a bus",
-        "moving bus to the front-left of the ego vehicle",
-        "bus changing lanes",
-        "truck without trailer",
-        "vehicle approaching stopped vehicle at intersection",
-        "bus in the same lane as a truck",
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian crossing at bollard",
-        "vehicle behind another vehicle that has a pedestrian on its right side"
+    "0c61aea3-3cba-35f3-8971-df42cd5b9b1a": [
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle at intersection facing another vehicle",
+        "motorcycle changing lanes to the left near multiple vehicles",
+        "vehicle facing and heading toward pedestrian group",
+        "jaywalking pedestrian",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle being crossed by a pedestrian",
+        "vehicle getting passed from the right"
     ],
-    "0d9e4cff-73ff-33eb-9981-795475e62faf": [
-        "vehicle accelerating aggressively",
+    "d78b78a0-2322-32c2-833a-e42ddc132d30": [
+        "vehicle being passed on the left by another vehicle",
+        "the vehicle two cars in front of the ego vehicle",
+        "two cars back from the ego vehicle",
         "bus with another bus in its lane",
-        "multiple buses within 50 meters ahead",
-        "pedestrian facing toward ego vehicle",
-        "pedestrian facing toward the bus",
-        "ego vehicle approaching stopped truck",
-        "bus making right turn",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "vehicle accelerating on intersection"
+        "vehicle stopped at construction barrel",
+        "vehicle being overtaken on the left",
+        "vehicle making a right turn",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle being tailgated while approaching stopped traffic",
+        "stopped car"
     ],
-    "b21b7285-2199-3264-b10a-524e9b23502a": [
-        "bicycle on intersection",
-        "bicycle traveling with vehicle traffic",
-        "vehicle in close proximity to bicycle",
-        "bicyclist on intersection",
-        "bicycle near a bus",
-        "motorcycle near construction cone",
-        "motorcycle or pedestrian within 5 meters to the right",
+    "3153b5b3-d381-3664-8f82-1d3c5ca841d2": [
+        "ego vehicle with vehicles on both sides",
+        "bicycle in vehicle lane with vehicle",
         "bicycle behind a bus",
-        "car following closely behind bicyclist",
-        "pedestrian walking between trailers"
+        "truck sharing a lane with another truck",
+        "moving bicycle directly to the left of the ego vehicle",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "bus in bus lane",
+        "bus changing lanes",
+        "ego vehicle with parked bicycles ahead",
+        "bicycle in same lane as a vehicle"
     ],
-    "120d7ac7-cce3-359e-a19c-1b9c0abd6be2": [
-        "vehicle changing lanes while in bike lane",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle changing lanes while on an intersection",
+    "4058d838-75cb-35e2-af7e-a51aaa833271": [
+        "vehicle being passed on the left by another vehicle",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle following another vehicle too closely",
+        "ego vehicle with vehicles on both sides",
         "vehicle crossing path of another vehicle",
-        "vehicle changing lanes to the right",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle changing lanes through bike lane",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle turning left while bicycle crosses from right"
+        "accelerating passenger vehicle",
+        "vehicle facing toward parked vehicles",
+        "vehicle navigating near multiple bicycles",
+        "city bus"
     ],
-    "7ccdda39-69b1-36d1-89c8-2acc3823264b": [
-        "vehicle being overtaken on the right",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "box truck braking in front of ego vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle getting passed from the right",
-        "vehicle with a bicycle to its right",
-        "parked box trucks",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle two vehicles ahead is turning",
-        "vehicle changing lanes through bike lane"
+    "6ff3a51a-e0ab-32be-beb5-4079e56933c6": [
+        "car with a stroller to its left",
+        "pedestrian walking with stroller",
+        "box truck at stop sign",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "passenger vehicle turning left at intersection",
+        "pedestrian on intersection not using a crosswalk",
+        "motorcycle in the same lane as a box truck",
+        "pedestrian near stop sign",
+        "pedestrian crossing in front of vehicle at crosswalk"
     ],
-    "a8a2fbc2-8e77-35a0-9208-f882c3cb2a5c": [
+    "db17141d-4d35-381d-9949-36ce767d6641": [
+        "bicycle on intersection",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle near multiple bollards",
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle near school bus",
-        "pedestrian to the left of a truck",
-        "dog near an intersection",
+        "bicycle crossing vehicle path at intersection",
+        "moving bicycle directly to the left of the ego vehicle",
+        "vehicle turning right near construction zone",
+        "passenger vehicle turning right",
+        "bicycle facing toward a vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+    ],
+    "5e9fc665-2353-34da-a2e7-2094ab17e790": [
         "bicycle near a bus",
-        "bicycle behind a bus",
+        "moving bus being crossed by a bicycle",
+        "pedestrian facing toward the bus",
+        "ego vehicle near articulated bus",
+        "stationary construction barrel",
+        "motorcycle overtaking a vehicle",
+        "pedestrians using designated crossing",
+        "ego vehicle approaching construction zone with traffic controller",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "stopped vehicles at intersection being crossed by pedestrians"
+    ],
+    "133e2e0b-b0fe-3bb0-b1f9-c846fcfd29e8": [
+        "left lane change while there is a vehicle to the left",
+        "vehicle stopped at official signaler",
+        "pedestrian with wheelchair at crosswalk",
+        "jaywalking pedestrian",
+        "traffic officer in roadway",
+        "ego vehicle changing lanes to the left",
+        "pedestrian to the left of a truck",
+        "ego vehicle passing official signaler",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicles being passed by a motorcycle on either side"
+    ],
+    "74f15437-b85e-314a-9d86-7294b98bf07f": [
+        "pedestrian crossing between bollards",
+        "pedestrians using designated crossing",
+        "vehicle at a stop sign",
+        "vehicle stopped at a stop sign",
+        "pedestrian to the back-right of the ego vehicle",
         "moving bicycle directly to the left of the ego vehicle",
-        "motorcycle in the same lane as a box truck",
-        "vehicle turning at intersection with nearby pedestrians",
-        "pedestrian crossing between stopped buses"
+        "vehicle accelerating on intersection",
+        "pedestrian walking alongside bollard",
+        "pedestrian walking with dog on sidewalk",
+        "pedestrian near bollard"
     ],
-    "2501c6d0-071c-3a7a-b51f-c8cbd37abe25": [
+    "a36f80a5-5edc-3842-80af-292ae639ee74": [
+        "group of pedestrians ahead of the ego vehicle",
+        "pedestrian walking with dog on sidewalk",
+        "stop sign behind a pedestrian",
+        "pedestrian facing toward the bus",
         "pedestrian between moving vehicles on both sides",
-        "vehicle with multiple construction cones on the left side",
-        "pedestrian near construction cone",
-        "vehicle turning right at stop sign",
-        "pedestrian on intersection not using a crosswalk",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "truck on intersection",
-        "vehicle two vehicles ahead is turning",
-        "truck swerving near construction cones",
-        "ego vehicle approaching stopped truck"
+        "pedestrian near stop sign",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "bus with another bus in its lane",
+        "vehicle navigating near multiple bicycles",
+        "vehicle in close proximity to bicycle"
     ],
-    "444cce44-cc82-4620-b630-1b5849284ac7": [
-        "bicyclist changing lanes to the right",
-        "pedestrian crossing in front of cyclist near intersection",
+    "ac3e33eb-5a53-369d-9e5a-7950392bfe99": [
+        "pedestrian near stop sign",
+        "stop sign behind a pedestrian",
+        "vehicle braking near pedestrian crossing",
         "car following closely behind bicyclist",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle facing and heading toward pedestrian group",
-        "motorcyclist braking hard",
-        "vehicle passing truck with pedestrian crossing ahead",
+        "ego vehicle approaching stopped truck",
+        "vehicle braking at pedestrian crossing",
+        "vehicle accelerating on intersection",
+        "vehicle stopped at a stop sign",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "regular vehicle turning right"
+    ],
+    "ca4144fb-10e5-3895-836f-87001f59ac65": [
+        "vehicle accelerating towards pedestrian crossing",
         "wheelchair user at pedestrian crossing",
-        "vehicle braking heavily"
+        "vehicle facing and accelerating toward pedestrian on road",
+        "ego vehicle approaching crossing pedestrians",
+        "stroller",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian walking with stroller"
     ],
-    "226199ab-c791-32a7-8bab-ab92878eb199": [
-        "bus with multiple pedestrians waiting on the right side",
-        "bus with at least 3 pedestrians within 5 meters",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "bus in bus lane",
-        "bicycle near traffic cone",
-        "bus with another bus in its lane",
+    "71d95611-9032-3787-a66e-e26313b08d46": [
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle two vehicles ahead is braking",
+        "stationary construction barrel",
+        "pedestrian to the left of a truck",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle stopped at construction barrel",
+        "bus changing lanes",
         "pedestrian walking alongside stopped bus",
-        "box truck braking in front of ego vehicle",
-        "bicycle near a bus"
+        "making a left lane change while there is a vehicle to the right",
+        "a group of people"
     ],
-    "f110598d-7e01-3ed7-a227-4e958987a31f": [
-        "vehicle changing lanes through bike lane",
+    "ea6895f2-504b-37b5-bfd0-cbf7017f22c3": [
+        "motorcycle between two vehicles",
         "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicyclist within 3 meters on either side",
-        "moving bicycle directly to the left of the ego vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle changing lanes while in bike lane",
-        "bicycle traveling against traffic",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "vehicle turning near group of cyclists"
-    ],
-    "df321672-461c-361b-aac9-e81cc9a88b9f": [
+        "group of three people",
+        "vehicle two cars ahead is braking",
+        "ego vehicle merging between two regular vehicles",
         "bicycle facing toward a vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle accelerating towards pedestrian crossing",
         "bicycle traveling alongside parked vehicles",
-        "vehicle within 5 meters of a bicycle",
-        "oncoming vehicle changing lanes",
-        "accelerating vehicle changing lanes to the right",
-        "bicycle facing toward moving traffic",
-        "ego vehicle approaching bicycle merging from bike lane",
-        "vehicle accelerating while changing lanes"
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "bicyclist riding in vehicle lane",
+        "bicycle in same lane as a vehicle"
     ],
-    "34fe8fbd-2b1a-3552-94c4-e80d1e85e5c2": [
-        "car turning right",
-        "pedestrian between moving vehicles on both sides",
-        "vehicle two vehicles ahead is turning",
-        "vehicle accelerating on intersection",
-        "passenger vehicle turning right",
-        "vehicle changing lanes",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle crossing path of another vehicle",
-        "pedestrian facing toward ego vehicle",
-        "truck in the same lane as a bus"
+    "53a8391f-b2d7-341f-95ce-b9174d48e040": [
+        "box truck with multiple construction cones to its right",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle getting passed from the right",
+        "vehicle turning at intersection with nearby pedestrians",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle moving at crawling speed",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle turning right with pedestrian in front"
     ],
-    "4935629c-fd9e-3b2f-b68e-9489c89585df": [
-        "vehicle approaching and facing a stopped vehicle at an intersection",
+    "c556f8e0-a001-3586-b2cf-d3256685c39f": [
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle facing toward parked vehicles",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "vehicle turning right with pedestrian in front",
+        "vehicle making a right turn",
+        "vehicle braking heavily",
         "car turning right",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "regular vehicle turning right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "truck on intersection",
-        "objects getting closer to the ego vehicle",
-        "jaywalking pedestrian",
-        "vehicle accelerating more than two meters per second",
-        "vehicle two vehicles ahead is changing lanes"
-    ],
-    "7cb4b11f-3872-3825-83b5-622e1a2cdb28": [
-        "box truck braking in front of ego vehicle",
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle with parked bicycles ahead",
-        "bicycle near a bus",
-        "parked box trucks",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "bicycle behind a bus",
-        "pedestrian walking alongside stopped bus",
-        "objects getting closer to the ego vehicle",
-        "vehicle changing lanes through bike lane"
-    ],
-    "d37be0e2-8223-3eeb-a0e2-c4b75d5ff87b": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "regular vehicles that are stopped or nearly stopped",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle two vehicles ahead is braking",
-        "accelerating passenger vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle changing lanes",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle approaching bicycle merging from bike lane",
-        "pedestrian walking alongside bollard"
+        "city bus",
+        "vehicle in close proximity to bicycle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle"
     ],
-    "924116d9-0a48-3d97-b8c9-0d16b087c16a": [
-        "vehicle making a right turn",
-        "vehicle near multiple bollards",
-        "regular vehicle turning right",
-        "vehicle facing the ego vehicle",
+    "3fa8c20e-a4b4-3af6-b9c4-6cb96f83916d": [
+        "box trucks within 10 meters of an intersection",
         "vehicle two vehicles ahead is turning",
-        "the vehicle two cars behind the ego vehicle",
-        "passenger vehicle turning right",
-        "pedestrians using designated crossing",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle facing and heading toward pedestrian group"
+        "vehicle crossing path of another vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle two vehicles ahead is braking",
+        "vehicle turning right with pedestrian in front",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "ego vehicle approaching stopped truck"
     ],
-    "d201af7e-48c8-34ad-be1c-e649af2cb5c2": [
-        "vehicle braking heavily",
-        "vehicle being overtaken on the right",
-        "dog",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "multiple buses within 50 meters ahead",
+    "ef4a46c4-138e-3478-b94e-3e60a567ec7d": [
+        "pedestrian to the left of a truck",
+        "pedestrians facing each other at close range, possibly conversing",
+        "stopped car",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "accelerating passenger vehicle",
+        "vehicle crossing path of another vehicle",
+        "vehicle traveling over 20 meters per second",
         "vehicle being overtaken while approaching another vehicle",
-        "unattended dog",
-        "bus with another bus in its lane",
-        "pedestrian crossing between bollards"
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle sharing a lane with another vehicle"
     ],
-    "38609ed6-2445-3df3-bd92-849d3963510e": [
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "pedestrian walking past right side of vehicle",
+    "ce0575bf-c2fc-38bd-9947-ea7494a799f9": [
         "pedestrians using designated crossing",
-        "stationary object",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "the vehicle two cars behind the ego vehicle",
+        "group of three people",
+        "vehicle following another vehicle too closely",
+        "a group of people",
+        "regular vehicles that are stopped or nearly stopped"
+    ],
+    "64037371-4aa4-3fed-97f4-bafc1674caee": [
+        "vehicle stopped at a stop sign",
+        "dog on roadway",
+        "vehicle accelerating on intersection",
+        "pedestrian on intersection not using a crosswalk",
+        "bus making right turn",
+        "dog near an intersection",
+        "vehicle near construction barrel",
         "pedestrian near bollard",
-        "ego vehicle approaching stopped delivery truck",
-        "vehicle between two bicycles while on pedestrian crossing",
-        "vehicle with multiple construction cones on the left side"
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "pedestrian walking with dog on sidewalk"
     ],
-    "eb142141-683a-3a6d-a207-0302b1ff260d": [
-        "vehicle braking heavily",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle two cars ahead is braking",
-        "school bus on intersection",
+    "06e5ac08-f4cb-34ae-9406-3496f7cadc62": [
+        "vehicle changing lanes while on an intersection",
+        "vehicle two vehicles ahead is turning",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian facing toward the bus",
         "vehicle changing lanes",
-        "bicycle following closely behind a vehicle",
-        "vehicle accelerating more than two meters per second",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "ego vehicle approaching pedestrian at crosswalk"
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle approaching stopped vehicle at intersection",
+        "dog near an intersection",
+        "vehicle braking near pedestrian crossing",
+        "making a left lane change while there is a vehicle to the right"
     ],
-    "366ceb72-9f11-385a-8bc9-a26a18dbdd22": [
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle turning right with pedestrian in front",
-        "pedestrian walking with dog on sidewalk",
+    "8aeeeeca-6a79-34ef-b667-835d53536a8f": [
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle in close proximity to bicycle",
+        "vehicle turning right near construction zone",
+        "pedestrian near bollard",
+        "pedestrian crossing at bollard",
         "moving bus to the front-left of the ego vehicle",
-        "dog near pedestrian",
-        "vehicle turning right with pedestrian waiting",
-        "pedestrian walking with stroller",
-        "bicycle behind a bus",
-        "car with a stroller to its left",
-        "stroller in the same lane as a regular vehicle"
-    ],
-    "dbe19bf6-93ad-372e-b96d-f7b652cdba93": [
-        "vehicle accelerating towards pedestrian crossing",
-        "bus in bus lane",
-        "city bus",
-        "bus with at least 3 pedestrians within 5 meters",
-        "truck on intersection",
-        "multiple pedestrians crossing ahead",
-        "multiple buses within 50 meters ahead",
-        "car driving in bus lane",
-        "ego vehicle with vehicles on both sides",
-        "truck sharing a lane with another truck"
+        "box truck braking in front of ego vehicle",
+        "motorcyclist",
+        "group of pedestrians ahead of the ego vehicle",
+        "pedestrian approaching a parked vehicle"
     ],
-    "14bf638b-8f0d-35b2-a369-6d846b5b3892": [
-        "vehicle accelerating more than two meters per second",
-        "regular vehicles that are stopped or nearly stopped",
-        "turning left",
-        "stopped car",
-        "the vehicle two cars behind the ego vehicle",
-        "passenger vehicle swerving left",
-        "two cars back from the ego vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "ego vehicle merging between two regular vehicles",
-        "vehicle near multiple bollards"
+    "41e31361-569b-3ed8-bafd-2308b7a9377e": [
+        "bicycle traveling alongside construction indicators",
+        "pedestrians facing each other at close range, possibly conversing",
+        "ego vehicle two cars ahead of another vehicle",
+        "regular vehicle turning right",
+        "objects getting closer to the ego vehicle",
+        "moving wheelchair within 5 meters of an intersection",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle braking heavily",
+        "pedestrian facing away from the ego vehicle",
+        "city bus"
     ],
-    "8606d399-57d4-3ae9-938b-db7b8fb7ef8c": [
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrian walking alongside stopped bus",
+    "81700b3c-2db4-3f72-935c-274d3607d6d2": [
+        "bicycle passing by parked vehicle",
+        "group of three people",
+        "bicycle facing toward moving traffic",
+        "dog near an intersection",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian to the left of a truck",
+        "ego vehicle following vehicle being overtaken on right",
+        "moving bicycle directly to the left of the ego vehicle",
         "bicyclist on intersection",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "bus changing lanes",
-        "vehicle turning right next to pedestrian with stroller",
-        "bus making right turn",
-        "ego vehicle approaching bicycle merging from bike lane",
-        "any vehicle in front of stop sign"
+        "ego vehicle near construction cone"
     ],
-    "4207ef92-0b3b-4708-8868-4ffcaef308e0": [
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "bicyclist changing lanes to the right",
-        "bicycle facing toward a vehicle",
-        "bicycle on intersection",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "passenger vehicle turning right",
+    "334f7360-727f-3689-a5b7-b553322aece5": [
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "stopped car",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "pedestrians facing each other at close range, possibly conversing",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "motorcycle near construction cone",
+        "group of pedestrians ahead of the ego vehicle",
+        "a group of people"
+    ],
+    "95312039-73b9-35a2-9aec-905494a4f7f0": [
         "vehicle braking at pedestrian crossing",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "vehicle approaching stopped vehicle at intersection"
+        "vehicle braking near pedestrian crossing",
+        "pedestrian facing toward ego vehicle",
+        "vehicle stopped at construction barrel",
+        "bicyclist riding in vehicle lane",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "multiple buses within 50 meters ahead",
+        "bus changing lanes",
+        "vehicle near construction barrel"
     ],
-    "1a6487dd-8bc6-3762-bd8a-2e50e15dbe75": [
+    "dc4d148d-f84c-307c-b2b7-f0cd7c267f57": [
+        "truck without trailer",
+        "vehicle at intersection facing another vehicle",
+        "vehicle stopped at construction barrel",
         "box truck braking in front of ego vehicle",
-        "pedestrian crossing at bollard",
-        "vehicle turning right next to pedestrian with stroller",
-        "car driving in bus lane",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle traveling over 20 meters per second",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "multiple pedestrians crossing ahead",
+        "vehicle two cars ahead is being crossed by a pedestrian"
+    ],
+    "4bab74cd-aba9-4752-9e1f-006cc639d63e": [
+        "stationary construction barrel",
         "stroller",
-        "vehicle passing stopped truck with pedestrian nearby",
+        "pedestrian walking past right side of vehicle",
+        "vehicle near construction barrel",
+        "car with a stroller to its left",
+        "vehicle being overtaken on the right",
+        "vehicle hard braking with another vehicle ahead",
         "passenger vehicle near stroller in road",
-        "bus with multiple pedestrians waiting on the right side",
-        "motorcyclist",
-        "the vehicle two cars behind the ego vehicle"
+        "passenger vehicle swerving left",
+        "stroller in the same lane as a regular vehicle"
     ],
-    "e66d1403-755b-3f63-938b-a2a69446a48a": [
-        "truck changing lanes to the right",
-        "ego vehicle changing lanes to the left",
-        "vehicle stopped at a stop sign",
-        "vehicle two cars ahead is braking",
-        "active vehicle at stop sign",
-        "accelerating truck",
+    "f150d98f-0109-3380-8480-c6846fb8e9c8": [
         "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle turning right at stop sign",
-        "motorcycle in the same lane as a box truck",
-        "pedestrian between moving vehicles on both sides"
-    ],
-    "2772dd5f-bc0a-47ea-ae19-a5e0dbef8f41": [
-        "vehicle with multiple construction cones on the left side",
-        "bicycle behind a bus",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus making right turn",
-        "city bus",
-        "vehicle turning left with a bicycle in front of it",
-        "bicycle near a bus",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "motorcycle between stopped vehicles",
-        "ego vehicle approaching bicycle merging from bike lane"
+        "stop sign behind a pedestrian",
+        "pedestrian to the left of a truck",
+        "vehicle at intersection facing another vehicle",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle stopped at a stop sign",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "truck on intersection",
+        "the active vehicle in front of the vehicle ahead"
     ],
-    "7b0bf9d6-084a-31d4-9e52-d9b582a0ec84": [
-        "vehicle moving at crawling speed",
-        "object that hasn't moved",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "ego vehicle with vehicles on both sides",
-        "jaywalking pedestrian",
-        "vehicle near multiple bollards",
-        "accelerating passenger vehicle",
-        "vehicle with multiple pedestrians to the left",
+    "a2f568b5-060f-33f0-9175-7e2062d86b6c": [
+        "vehicle changing lanes to the right",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle turning right near construction zone",
         "vehicle within 5 meters of a bicycle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
-    ],
-    "ab3d8387-8e07-37f6-a74c-cf100fb6a612": [
-        "vehicle stopped at official signaler",
-        "pedestrian crossing at bollard",
-        "bicycle traveling with vehicle traffic",
-        "traffic officer in roadway",
-        "ego vehicle passing official signaler",
-        "bicyclist on intersection",
-        "bus within 5 meters to either side of ego vehicle",
-        "moving bus to the front-left of the ego vehicle",
-        "ego vehicle braking near traffic controller",
-        "multiple pedestrians crossing ahead"
-    ],
-    "35d5649b-f311-3177-8374-f9adf68781f3": [
-        "car turning right",
-        "parked vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle accelerating while changing lanes",
-        "passenger vehicle turning left at intersection",
-        "vehicle accelerating on intersection",
-        "two cars back from the ego vehicle",
-        "jaywalking pedestrian",
-        "vehicle being crossed by a pedestrian"
-    ],
-    "0b324587-6097-3f92-a07a-a44f48c85d9e": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
         "motorcycle or pedestrian within 5 meters to the right",
-        "motorcyclist",
-        "pedestrian to the back-right of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "dog",
-        "ego vehicle near construction cone",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle changing lanes while in bike lane",
-        "the active vehicle in front of the vehicle ahead"
-    ],
-    "9e684390-4af3-3ec5-b163-855bbd026ff1": [
-        "vehicle being overtaken on the left",
-        "vehicle surrounded by bicycles on all sides",
-        "vehicle changing lanes while on an intersection",
-        "vehicle in close proximity to bicycle",
-        "regular vehicle turning right",
-        "object that hasn't moved",
-        "pedestrian near construction cone",
-        "pedestrian on intersection not using a crosswalk",
-        "multiple pedestrians crossing ahead",
-        "vehicle accelerating aggressively"
+        "ego vehicle following vehicle being overtaken on right",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle with multiple bicycles ahead",
+        "vehicle navigating near multiple bicycles"
     ],
-    "58a6bfcf-071e-3a6d-90f4-0e4cbdc298eb": [
-        "regular vehicle turning right",
+    "afbdd2e0-696a-3222-a20a-2023baf8e5af": [
         "vehicle making a right turn",
-        "vehicle at intersection facing another vehicle",
-        "objects getting closer to the ego vehicle",
         "vehicle being followed by ego vehicle while being overtaken on right",
-        "car turning right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle being tailgated while approaching stopped traffic",
-        "the vehicle two cars behind the ego vehicle",
-        "accelerating vehicle changing lanes to the right"
-    ],
-    "11995cbe-e076-3a35-910d-1e56ecf2c3c8": [
-        "turning left",
-        "left lane change while there is a vehicle to the left",
-        "oncoming vehicle changing lanes",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle two cars ahead is braking",
-        "vehicle accelerating while changing lanes",
-        "vehicle crossing path of another vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "bicycle and vehicle traveling in bike lane",
-        "bicycle sharing lane as a regular vehicle"
+        "vehicles being passed by a motorcycle on either side",
+        "vehicle passing school bus at stop",
+        "vehicle being passed on the left by another vehicle",
+        "box trucks within 10 meters of an intersection",
+        "pedestrian crossing in front of cyclist near intersection",
+        "motorcyclist",
+        "ego vehicle following vehicle being overtaken on right",
+        "the vehicle two cars in front of the ego vehicle"
     ],
-    "285ac213-8caf-31a4-b0fa-c240580f7f69": [
-        "vehicle two vehicles ahead is turning",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "ego vehicle near construction cone",
-        "oncoming vehicle changing lanes",
-        "ego vehicle two cars ahead of another vehicle",
+    "07e4fccb-eb2d-31e5-bbcb-6550d0860f64": [
+        "two cars back from the ego vehicle",
+        "bus in bus lane",
+        "car turning right",
+        "vehicle maneuvering between construction barriers",
+        "vehicle being crossed by a pedestrian",
+        "vehicle stopped at construction barrel",
+        "ego vehicle near construction barrel",
         "left lane change while there is a vehicle to the left",
-        "vehicle accelerating aggressively",
-        "pedestrian on intersection not using a crosswalk",
-        "a group of people"
+        "vehicle near construction barrel",
+        "ego vehicle with vehicles on both sides"
     ],
-    "1bf2bf1c-64d1-308f-afd1-220de9d30290": [
-        "vehicle near multiple bollards",
-        "vehicle accelerating aggressively",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+    "20f785b0-e11a-3757-be79-b0731286c998": [
+        "vehicle facing and heading toward pedestrian group",
         "vehicle accelerating on intersection",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle braking heavily",
-        "vehicle accelerating more than two meters per second",
-        "vehicle changing lanes while on an intersection",
-        "vehicle making a right turn",
-        "vehicle with a bicycle to its right"
+        "bus within 5 meters to either side of ego vehicle",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "truck in the same lane as a bus",
+        "vehicle following another vehicle too closely",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "bus in the same lane as a truck",
+        "vehicle turning left",
+        "truck on intersection"
     ],
-    "37fcd8ac-c148-3c4a-92ac-a10f355451b7": [
-        "bus with multiple pedestrians waiting on the right side",
-        "bus with another bus in its lane",
-        "pedestrian on road not facing traffic",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "multiple pedestrians crossing ahead",
-        "multiple buses within 50 meters ahead",
-        "bicycle behind a bus",
-        "pedestrian with wheelchair at crosswalk"
+    "e033cc8e-b23d-3fc6-8954-d90c5e98550e": [
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle facing toward a vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle maneuvering between construction barriers",
+        "bicycle facing toward moving traffic",
+        "bicyclist riding in vehicle lane",
+        "bicycle following closely behind a vehicle",
+        "lane splitting motorcycle",
+        "bicycle in vehicle lane with vehicle"
     ],
-    "b9f73e2a-292a-3876-b363-3ebb94584c7a": [
+    "790d3c83-f6bf-348e-80e7-12f29240e598": [
+        "motorcycle between two vehicles",
+        "pedestrian with wheelchair at crosswalk",
+        "dog",
+        "vehicle turning left",
+        "vehicle turning right with pedestrian in front",
+        "dog near pedestrian",
+        "ego vehicle near construction cone",
+        "vehicle with multiple pedestrians to the left",
+        "motorcycle between stopped vehicles",
+        "pedestrian walking with dog on sidewalk"
+    ],
+    "7e3d8631-3b7d-38c1-b833-ee7cfa7235ca": [
         "car following closely behind bicyclist",
-        "vehicle within 5 meters of a bicycle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "parked vehicle",
-        "vehicle in close proximity to bicycle",
-        "bicycle following closely behind a vehicle",
         "vehicle with a bicycle to its right",
-        "vehicle sharing a lane with another vehicle",
-        "regular vehicle turning right",
-        "bicycle in same lane as a vehicle"
+        "vehicle within 5 meters of a bicycle",
+        "city bus",
+        "bicycle in vehicle lane with vehicle",
+        "vehicle two vehicles ahead is at a stop sign",
+        "bicycle in same lane as a vehicle",
+        "bicycle sharing lane as a regular vehicle",
+        "group of people",
+        "box trucks within 10 meters of an intersection"
     ],
-    "8c54e429-a3de-3eb3-96f3-d3127e2cc18f": [
-        "vehicle approaching stopped vehicle at intersection",
-        "moving bicycle directly to the left of the ego vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist on intersection",
-        "bicyclist within 3 meters on either side",
-        "stop sign behind a pedestrian",
+    "06852209-b868-306b-b492-ee6dbc914cf8": [
+        "vehicle with multiple pedestrians to the left",
+        "pedestrians using designated crossing",
         "vehicle stopped at a stop sign",
-        "bicycle on intersection",
-        "pedestrian approaching a parked vehicle",
-        "vehicle making a right turn"
+        "pedestrian on intersection not using a crosswalk",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle near multiple bollards",
+        "jaywalking pedestrian",
+        "pedestrian crossing ahead of ego vehicle",
+        "stop sign behind a pedestrian",
+        "ego vehicle with parked bicycles ahead"
     ],
-    "adbb2a17-a503-32cd-a9ed-b523b3e4da0b": [
-        "vehicle moving at crawling speed",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
+    "e4d53680-f7ef-364b-91a4-00e5aa91ab9b": [
+        "school bus at pedestrian crossing",
+        "truck without trailer",
+        "vehicle turning right near construction zone",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "school bus on intersection",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "wheelchair user at pedestrian crossing",
+        "truck cab with trailer sharing lane with regular vehicle"
+    ],
+    "4977e8a8-4e1f-3ca2-a44e-454cd3756a5f": [
+        "motorcycle between two vehicles",
+        "vehicle being overtaken on the right",
+        "dog",
+        "pedestrian near stop sign",
+        "motorcycle between stopped vehicles",
+        "dog near pedestrian",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle turning right with pedestrian waiting",
         "vehicle two vehicles ahead is braking",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "pedestrian walking past right side of vehicle",
-        "accelerating passenger vehicle",
-        "vehicle facing the ego vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "pedestrian crossing in front of vehicle at crosswalk"
+        "box truck near at least 3 construction cones"
     ],
-    "a059b6b9-ca26-4881-bcf7-d202433de0c2": [
-        "vehicle two cars ahead is braking",
+    "0b9321c1-9bc2-4727-beb8-8046aa4bb6c4": [
+        "vehicle turning right near construction zone",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "bus with another bus in its lane",
+        "vehicle making a right turn",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle turning right with pedestrian in front",
+        "vehicle being crossed by a pedestrian",
+        "ego vehicle changing lanes to the left"
+    ],
+    "539b7a79-54c6-30ef-8e06-210d42c79125": [
+        "motorcycle between two vehicles",
+        "vehicle two vehicles ahead is turning",
+        "motorcycle near construction cone",
+        "dog near pedestrian",
+        "bicycle crossing vehicle path at intersection",
+        "motorcycle between stopped vehicles",
+        "group of people",
+        "vehicle braking heavily",
+        "parked box trucks",
+        "bicycle traveling against traffic"
+    ],
+    "595acd37-183c-489f-bb8a-c299a86b74c0": [
         "vehicle near multiple bollards",
-        "vehicle traveling over 20 meters per second",
-        "vehicle accelerating aggressively",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle getting passed from the right",
-        "vehicle changing lanes to the right",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle stopped at construction barrel"
+        "vehicle two cars ahead is changing lanes",
+        "accelerating passenger vehicle",
+        "vehicle at intersection facing another vehicle",
+        "vehicle turning at intersection with nearby pedestrians",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian walking past right side of vehicle",
+        "vehicle being crossed by a pedestrian",
+        "pedestrian near stop sign",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
     ],
-    "7c5e3704-33c8-3a4e-b032-9187a6f90206": [
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrian crossing at bollard",
-        "multiple pedestrians crossing ahead",
-        "pedestrian walking alongside bollard",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle with parked bicycles ahead"
+    "21f6ebe1-09c9-3a71-bdd9-58f45fbe9000": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle moving at crawling speed",
+        "vehicle being tailgated while approaching stopped traffic",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle turning right near construction zone",
+        "bicycle in same lane as a vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle sharing a lane with another vehicle"
     ],
-    "7ce2a2ce-eed6-36d7-ba62-dda9acddb070": [
-        "ego vehicle approaching cyclist in same lane",
-        "passenger vehicle near stroller in road",
-        "bicycle traveling alongside parked vehicles",
-        "unattended stroller",
-        "multiple pedestrians crossing ahead",
-        "stroller in the same lane as a regular vehicle",
-        "pedestrian crossing ahead of ego vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "pedestrians over 30 meters away",
-        "moving bicycle directly to the left of the ego vehicle"
+    "b1527e96-5a5d-3adc-a893-314ab3a6012e": [
+        "vehicle near construction barrel",
+        "vehicle turning right with pedestrian waiting",
+        "pedestrian with multiple dogs",
+        "vehicle with animal in front",
+        "ego vehicle near bollard",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "dog near an intersection",
+        "dog",
+        "dog near pedestrian"
+    ],
+    "48a52b7b-9391-3728-84f1-9aa6ca336214": [
+        "pedestrian on road not facing traffic",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle getting passed from the right",
+        "vehicle near construction barrel",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle facing and heading toward pedestrian group",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle stopped at construction barrel",
+        "traffic officer in roadway",
+        "truck without trailer"
     ],
-    "da30abcf-652b-38df-a128-10942b225ec5": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle following another vehicle too closely",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "passenger vehicle turning right"
+    "a3876690-9d49-3c98-9421-02cfe0ccb551": [
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle near message board trailer",
+        "vehicle being overtaken on the left",
+        "vehicle stopped at a stop sign",
+        "active vehicle at stop sign",
+        "vehicle at a stop sign",
+        "multiple buses within 50 meters ahead",
+        "vehicle accelerating more than two meters per second",
+        "stop sign behind a pedestrian",
+        "stopped vehicles at intersection being crossed by pedestrians"
     ],
-    "75e8adad-50a6-3245-8726-5e612db3d165": [
-        "accelerating truck",
-        "parked box trucks",
+    "57356998-297c-330a-af4e-c6a1ad64f923": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian crossing ahead of ego vehicle",
+        "multiple pedestrians crossing ahead",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "motorcycle between two vehicles",
         "ego vehicle near construction barrel",
-        "stationary construction barrel",
-        "vehicle maneuvering between construction barriers",
-        "jaywalking pedestrian",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle turning right near construction zone",
+        "vehicle maneuvering between construction barriers"
+    ],
+    "256c185c-284a-343e-93f4-894eed474edd": [
         "construction item on road",
-        "vehicle stopped at construction barrel",
-        "truck on intersection",
-        "vehicle traveling over 20 meters per second"
+        "vehicle with animal in front",
+        "vehicle accelerating towards pedestrian crossing",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle sharing a lane with another vehicle",
+        "motorcycle near construction cone",
+        "vehicle accelerating on intersection",
+        "bus in the same lane as a truck",
+        "vehicle being tailgated while approaching stopped traffic",
+        "bicyclist within 3 meters on either side"
     ],
-    "bd9636d2-7220-3585-9c7d-4acaea167b71": [
-        "pedestrian walking alongside bollard",
-        "bus with another bus in its lane",
+    "bdd7e8ba-f7fa-38d1-b6bf-9dc77334fec5": [
+        "stop sign behind a pedestrian",
+        "pedestrian near stop sign",
+        "pedestrian walking with stroller",
+        "bicycle facing toward moving traffic",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "pedestrian walking alongside stopped bus",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle approaching construction zone with traffic controller"
+    ],
+    "46d917cd-531c-330b-8d7b-979b51a8927f": [
         "multiple buses within 50 meters ahead",
-        "pedestrian near construction cone",
-        "bus changing lanes",
+        "bus with at least 3 pedestrians within 5 meters",
+        "vehicle accelerating more than two meters per second",
+        "bus with multiple pedestrians waiting on the right side",
+        "ego vehicle approaching crossing pedestrians",
         "pedestrian walking alongside stopped bus",
-        "pedestrian on road not facing traffic",
-        "group of three people",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle turning at intersection with nearby pedestrians"
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle turning right at stop sign",
+        "pedestrian crossing ahead of ego vehicle",
+        "box truck changing lanes to the left"
     ],
-    "e7e7ebad-79d2-3ae1-95ce-f3035bc8f719": [
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle turning left with a bicycle in front of it",
+    "11420316-aec9-3ad9-8b4a-d618bcd180e9": [
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "motorcycle between stopped vehicles",
-        "multiple pedestrians crossing ahead",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle near traffic cone",
+        "pedestrian with multiple dogs",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "bicyclist within 3 meters on either side",
+        "bicycle traveling with vehicle traffic",
+        "car following closely behind bicyclist",
         "bicycle traveling against traffic",
-        "motorcycle between two vehicles",
-        "bicycle crossing vehicle path at intersection",
-        "car driving in bus lane",
-        "wheeled rider crossing between moving vehicles"
+        "pedestrian crossing in front of cyclist near intersection"
     ],
-    "04973bcf-fc64-367c-9642-6d6c5f363b61": [
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+    "be94abe3-f84c-34d6-8461-3105bcfcedb7": [
+        "pedestrian crossing between bollards",
+        "parked box trucks",
         "pedestrian to the back-right of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
+        "ego vehicle approaching stopped delivery truck",
+        "dog",
+        "pedestrian turning and watching the ego vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "lane splitting motorcycle",
         "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle braking heavily",
-        "jaywalking pedestrian",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian walking between two stopped vehicles",
-        "pedestrians using designated crossing"
+        "moving bus being crossed by a bicycle"
     ],
-    "9caf211e-3e6e-3996-8518-f617b9454e67": [
-        "ego vehicle two cars ahead of another vehicle",
-        "stationary object",
-        "ego vehicle near articulated bus",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "ego vehicle following vehicle being overtaken on right",
-        "any vehicle in front of stop sign",
-        "city bus",
-        "pedestrian between moving vehicles on both sides",
-        "pedestrian crossing between bollards",
-        "vehicle accelerating towards pedestrian crossing"
+    "0fc6aa34-323a-33bb-9804-2004599bcd06": [
+        "bicyclist riding in vehicle lane",
+        "bicycle traveling alongside construction indicators",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "bicycle passing by parked vehicle",
+        "bicycle traveling against traffic",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle crossing vehicle path at intersection",
+        "vehicle turning left with a bicycle in front of it",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle"
     ],
-    "de43d0b6-d6a7-38de-9709-883e10320267": [
-        "multiple buses within 50 meters ahead",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicycle following closely behind a vehicle",
+    "0f257dcc-8606-3ef9-b17e-b022a3fc72c7": [
+        "motorcycle near stop sign",
+        "bicyclist on intersection",
+        "bicycle passing by parked vehicle",
+        "bicycle in same lane as a vehicle",
+        "bicycle on intersection",
+        "bicycle in vehicle lane with vehicle",
+        "bicyclist within 3 meters on either side",
+        "ego vehicle with parked bicycles ahead",
+        "moving bicycle directly to the left of the ego vehicle",
+        "ego vehicle approaching cyclist in same lane"
+    ],
+    "080b1ce2-9477-39ee-8233-b7f33e1dfe56": [
+        "bus in the same lane as a truck",
+        "car following closely behind bicyclist",
+        "railed vehicle",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle navigating near multiple bicycles",
+        "vehicle accelerating more than two meters per second",
+        "truck in the same lane as a bus",
+        "box truck changing lanes ahead",
+        "vehicle in close proximity to bicycle",
+        "pedestrian facing toward the bus"
+    ],
+    "d9fd666a-8f55-38bb-8387-80fa44c29348": [
         "car following closely behind bicyclist",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle braking heavily",
         "pedestrian facing toward the bus",
-        "any vehicle in front of stop sign",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle on intersection",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bus with another bus in its lane",
+        "bicycle traveling with vehicle traffic",
+        "bicycle crossing vehicle path at intersection",
+        "ego vehicle approaching cyclist in same lane",
+        "ego vehicle with vehicles on both sides"
+    ],
+    "aa82b61f-7156-3c68-95a4-b79cebd120eb": [
+        "vehicles being passed by a motorcycle on either side",
         "pedestrian near construction cone",
-        "pedestrian crossing between stopped buses"
+        "passenger vehicle turning left at intersection",
+        "passenger vehicle turning right",
+        "pedestrian to the back-right of the ego vehicle",
+        "moving bus being crossed by a bicycle",
+        "ego vehicle near bollard",
+        "bicycle facing toward a vehicle",
+        "regular vehicle turning right",
+        "vehicle approaching and facing a stopped vehicle at an intersection"
     ],
-    "5481321f-d317-3e80-8061-6e9c635c4ca9": [
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian turning and watching the ego vehicle",
-        "parked vehicle",
-        "vehicle making a right turn",
+    "6f2f7d1e-8ded-35c5-ba83-3ca906b05127": [
+        "vehicle with multiple bicycles ahead",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle two vehicles ahead is braking",
+        "vehicle navigating near multiple bicycles",
+        "dog",
+        "vehicle changing lanes while on an intersection",
         "vehicle turning right with pedestrian in front",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle changing lanes while in bike lane"
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle turning at intersection with nearby pedestrians"
     ],
-    "b5a1b0b0-a7fc-3a47-af82-9b25a81a8c0b": [
-        "vehicle changing lanes",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle accelerating towards pedestrian crossing",
-        "box trucks within 10 meters of an intersection",
-        "truck without trailer",
-        "passenger vehicle swerving left",
+    "c2ec8955-1797-338f-9486-d7c41926f791": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian walking alongside bollard",
+        "ego vehicle merging between two regular vehicles",
+        "pedestrian facing toward the bus",
+        "multiple buses within 50 meters ahead",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle two cars ahead is braking",
+        "ego vehicle changing lanes to the left"
+    ],
+    "286790ed-9dec-305b-bcad-4f8153301e7c": [
+        "pedestrian facing toward ego vehicle",
+        "jaywalking pedestrian",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "group of pedestrians ahead of the ego vehicle",
+        "box truck changing lanes to the right",
+        "passenger vehicle turning right",
+        "bus changing lanes",
+        "the vehicle two cars in front of the ego vehicle",
+        "bus with at least 3 pedestrians within 5 meters",
+        "moving bus to the front-left of the ego vehicle"
+    ],
+    "78cbd619-8ded-35b8-87a1-38c4f4aeb82d": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle passing school bus at stop",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "pedestrians using designated crossing",
         "semi truck within 30 meters ahead of ego vehicle",
         "truck cab with trailer sharing lane with regular vehicle",
-        "bus within 5 meters to either side of ego vehicle",
-        "car driving in bus lane"
+        "bicycle on intersection",
+        "truck without trailer"
+    ],
+    "d2901fe5-4b64-3144-98e1-67ef5ef83fa7": [
+        "motorcycle between stopped vehicles",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle at intersection facing another vehicle",
+        "pedestrian to the back-right of the ego vehicle",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "bicycle and vehicle traveling in bike lane",
+        "pedestrian facing toward the bus",
+        "bicyclist on intersection",
+        "passenger vehicle swerving left",
+        "ego vehicle approaching cyclist in same lane"
     ],
-    "ed93e1bb-7bbc-3444-8fc8-08a271438fc8": [
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle changing lanes through bike lane",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle changing lanes while in bike lane",
-        "semi truck within 30 meters ahead of ego vehicle",
+    "bd4a7d9d-14e1-3c17-873d-a74d0cd6a5d7": [
+        "bicycle sharing lane as a regular vehicle",
+        "moving bicycle directly to the left of the ego vehicle",
+        "vehicle braking heavily",
+        "bicycle in same lane as a vehicle",
+        "bicycle passing by parked vehicle",
+        "bicycle and vehicle traveling in bike lane",
+        "bicycle traveling with vehicle traffic",
         "truck without trailer",
-        "ego vehicle approaching stopped truck",
-        "vehicle accelerating aggressively"
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicyclist within 3 meters on either side"
     ],
-    "f46707f9-435f-3a06-9017-deae11feab53": [
-        "pedestrian crossing in front of vehicle at crosswalk",
+    "d47507ce-b079-395e-8761-8e70818ea69a": [
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle changing lanes",
+        "vehicle accelerating more than two meters per second",
+        "vehicle braking at pedestrian crossing",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle crossing path of another vehicle",
+        "vehicle at intersection facing another vehicle",
         "vehicles being passed by a motorcycle on either side",
-        "pedestrian near stop sign",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "motorcyclist braking hard",
-        "motorcycle overtaking a vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle braking near pedestrian crossing"
+    ],
+    "9ec8f3a2-59ba-3ce2-827d-656ea5bc1f1f": [
+        "bus within 5 meters to either side of ego vehicle",
         "stop sign behind a pedestrian",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "multiple buses within 50 meters ahead",
+        "vehicle stopped at official signaler",
+        "pedestrian walking with stroller",
+        "stroller",
         "bus with multiple pedestrians waiting on the right side",
-        "pedestrian walking alongside stopped bus"
+        "ego vehicle near articulated bus"
     ],
-    "6bae6c0c-5296-376d-96bc-6c8dbe6693a5": [
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
+    "dd251cc5-736d-3b76-8ad3-3f6cb138178e": [
+        "box truck changing lanes to the right",
+        "bicycle behind a bus",
+        "box truck with multiple construction cones to its right",
+        "pedestrian walking with dog on sidewalk",
+        "ego vehicle near articulated bus",
+        "motorcyclist braking hard",
+        "box truck near at least 3 construction cones",
+        "ego vehicle with vehicles on both sides",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "motorcyclist traveling opposite to bicycle traffic"
+    ],
+    "614812d4-3344-3975-a1c8-4131910c4a10": [
+        "pedestrian walking with dog on sidewalk",
         "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle turning right with pedestrian in front",
-        "vehicle turning right with pedestrian waiting",
-        "ego vehicle approaching crossing pedestrians",
-        "bicycle between two vehicles traveling in same direction",
-        "bicycle crossing vehicle path at intersection"
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle being crossed by a pedestrian",
+        "dog on roadway",
+        "vehicle with animal in front",
+        "pedestrian crossing ahead of ego vehicle",
+        "motorcycle near construction cone",
+        "dog",
+        "vehicle stopped at a stop sign"
     ],
-    "f303e577-a888-30db-97f7-ed36c90227e1": [
-        "bicycle following closely behind a vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "bicycle passing by parked vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle in same lane as a vehicle",
+    "4f1b4bb2-b30b-3537-8fed-dd8f843f5adb": [
+        "bicycle traveling with vehicle traffic",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "pedestrian approaching a parked vehicle",
+        "a group of people",
+        "left lane change while there is a vehicle to the left",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "dog near pedestrian",
+        "ego vehicle merging between two regular vehicles",
+        "pedestrian walking with dog on sidewalk"
+    ],
+    "ee27a871-85cf-494c-8519-f54815040af5": [
+        "vehicle stopped at construction barrel",
+        "pedestrian approaching a parked vehicle",
+        "vehicle being overtaken on the right",
         "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle accelerating aggressively",
-        "ego vehicle near bollard"
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle accelerating more than two meters per second",
+        "vehicle being overtaken on the left",
+        "vehicle near construction barrel"
     ],
-    "8a0ff1a2-9045-3be3-b67f-3914d88178ec": [
-        "passenger vehicle swerving left",
-        "the vehicle two cars behind the ego vehicle",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle near multiple bollards",
-        "vehicles being passed by a motorcycle on either side",
-        "pedestrian near bollard",
-        "motorcycle between two vehicles",
-        "object that hasn't moved",
-        "pedestrian to the left of a truck",
-        "pedestrian on road not facing traffic"
+    "d1695c5e-08a9-44fd-8f45-93c23f700c8b": [
+        "bicycle following closely behind a vehicle",
+        "unattended dog",
+        "vehicle changing lanes",
+        "vehicle following another vehicle too closely",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle accelerating on intersection",
+        "vehicle traveling over 20 meters per second",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle braking heavily",
+        "vehicle traveling in the opposite direction as the ego vehicle"
     ],
-    "1c8f1189-c4fe-3303-bf2a-f88f5751b81e": [
-        "vehicle approaching stopped vehicle at intersection",
-        "motorcyclist braking hard",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "oncoming vehicle changing lanes",
-        "pedestrian on intersection not using a crosswalk",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle turning right with pedestrian in front",
-        "pedestrian walking with dog on sidewalk",
-        "bicycle on intersection",
-        "dog on roadway"
+    "d9c267be-f19a-3183-afe0-f0625a375743": [
+        "vehicle following another vehicle too closely",
+        "pedestrian with multiple dogs",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle being overtaken on the right",
+        "regular vehicle turning right",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle making a right turn",
+        "vehicle two vehicles ahead is braking",
+        "pedestrian near stop sign",
+        "dog near an intersection"
     ],
-    "e0cfd042-ae29-3d21-bb47-81eb8f933ec8": [
-        "ego vehicle two cars ahead of another vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "ego vehicle with vehicles on both sides",
-        "vehicle accelerating more than two meters per second",
-        "vehicle facing toward parked vehicles",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle being crossed by a pedestrian",
-        "car turning right"
+    "1842383a-1577-3b7a-90db-41a9a6668ee2": [
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "car with a stroller to its left",
+        "vehicle turning right next to pedestrian with stroller",
+        "vehicle near message board trailer",
+        "bus with multiple strollers in front",
+        "stroller in the same lane as a regular vehicle",
+        "passenger vehicle near stroller in road",
+        "vehicle turning while pedestrian crosses with stroller",
+        "stroller with bollards on both sides",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
     ],
-    "8e5442cf-8882-3b94-bc47-18fcad84bb20": [
-        "pedestrians using designated crossing",
+    "bd73bd15-8a42-3aa9-8eb7-cff9f894d43b": [
+        "vehicle two cars ahead is changing lanes",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle with a bicycle to its right",
+        "making a left lane change while there is a vehicle to the right",
         "dog near pedestrian",
-        "pedestrian walking with stroller",
-        "city bus",
-        "pedestrian walking alongside stopped bus",
-        "stroller",
+        "vehicle turning left while bicycle crosses from right",
         "vehicle two vehicles ahead is changing lanes",
-        "ego vehicle near articulated bus",
-        "vehicle with multiple construction cones on the left side",
-        "dog running in the road"
+        "bicycle following closely behind a vehicle"
     ],
-    "5fe10166-ab1e-36d5-aa2b-c0d6f680f2c7": [
-        "vehicle changing lanes while in bike lane",
-        "vehicle being overtaken on the right",
-        "vehicle changing lanes",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "vehicle at intersection facing another vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "making a left lane change while there is a vehicle to the right",
-        "passenger vehicle turning right"
+    "9a372faa-e598-30e2-999f-99f90a0b099e": [
+        "bus in the same lane as a truck",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "pedestrian with multiple dogs",
+        "ego vehicle near stroller on sidewalk",
+        "passenger vehicle near stroller in road",
+        "ego vehicle near construction cone",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "dog on roadway",
+        "stop sign behind a pedestrian",
+        "stroller"
     ],
-    "36b38cbf-f6c5-3a12-8e7a-eb281cc9c2fc": [
-        "bicycle on intersection",
-        "bicycle facing toward a vehicle",
+    "ff6adc87-5f47-32f7-b36a-546453c0e332": [
         "vehicle accelerating while changing lanes",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "bicycle facing toward moving traffic",
-        "regular vehicle turning right",
-        "passenger vehicle turning right",
-        "ego vehicle passing parked motorcycle",
-        "car following closely behind bicyclist"
-    ],
-    "47358aac-2ec0-3d45-a837-f2069ca7cee3": [
-        "box trucks within 10 meters of an intersection",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian between moving vehicles on both sides",
-        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle two cars ahead is being crossed by a pedestrian",
         "vehicle near construction barrel",
-        "vehicle stopped at construction barrel",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian facing toward the bus",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle approaching multiple pedestrians at crosswalk"
+        "vehicle with multiple bicycles ahead",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "pedestrians facing each other at close range, possibly conversing",
+        "dog on roadway",
+        "bicyclist within 3 meters on either side",
+        "pedestrian walking with dog on sidewalk",
+        "dog crossing in front of vehicle"
     ],
-    "3e7c4d87-dba1-3e22-a303-4f402f89cd20": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "passenger vehicle turning left at intersection",
-        "car turning right",
-        "vehicle making a right turn",
+    "332b278a-a6b9-3bc3-b88c-241e4b03b4ef": [
+        "pedestrian on intersection not using a crosswalk",
         "vehicle changing lanes",
-        "vehicle stopped at construction barrel",
-        "passenger vehicle turning right",
-        "vehicle near construction barrel",
-        "pedestrian to the back-right of the ego vehicle",
-        "ego vehicle approaching crossing pedestrians"
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle with a bicycle to its right",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "ego vehicle approaching crossing pedestrians",
+        "lane splitting motorcycle",
+        "pedestrian crossing ahead of ego vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "jaywalking pedestrian"
     ],
-    "a1c1d559-0480-39d2-94f0-1a89f0226c4f": [
-        "vehicle facing toward parked vehicles",
-        "vehicle being overtaken on the left",
-        "vehicle getting passed from the right",
-        "vehicle near multiple bollards",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle at a stop sign",
-        "vehicle being passed on the left by another vehicle",
-        "any vehicle in front of stop sign",
-        "ego vehicle near bollard",
-        "vehicle changing lanes to the right"
+    "5f2b8881-3447-3905-99f8-def9d72aae42": [
+        "bicyclist within 3 meters on either side",
+        "bicycle crossing vehicle path at intersection",
+        "ego vehicle approaching cyclist in same lane",
+        "bicycle passing by parked vehicle",
+        "bicyclist changing lanes to the right",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "ego vehicle near articulated bus",
+        "dog on roadway",
+        "dog near an intersection",
+        "bicycle on intersection"
     ],
-    "382dfbe0-836e-385c-86f2-f1afcf57a402": [
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian turning and watching the ego vehicle",
-        "ego vehicle near bollard",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "motorcycle near construction cone",
-        "pedestrian crossing at bollard",
-        "motorcycle between stopped vehicles",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "motorcyclist braking hard"
+    "01bb304d-7bd8-35f8-bbef-7086b688e35e": [
+        "vehicle turning right next to pedestrian with stroller",
+        "moving bus being crossed by a bicycle",
+        "ego vehicle near construction barrel",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle accelerating more than two meters per second",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "passenger vehicle near stroller in road",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle maneuvering between construction barriers",
+        "dog near pedestrian"
     ],
-    "c93a30c8-168c-386c-a25a-cbd8d8410fbe": [
-        "vehicle two vehicles ahead is braking",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "truck cab with trailer sharing lane with regular vehicle",
+    "ba66bb3c-5437-4bc6-afe3-299109e5ced4": [
+        "vehicle facing toward parked vehicles",
+        "vehicle accelerating towards pedestrian crossing",
         "ego vehicle following vehicle being overtaken on right",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle braking heavily",
-        "truck without trailer",
-        "vehicle being overtaken on the left",
-        "truck sharing a lane with another truck",
-        "two cars back from the ego vehicle"
-    ],
-    "6cc0bb26-5afb-3688-b237-b9c64c2800e5": [
-        "vehicle getting passed from the right",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
         "passenger vehicle turning left at intersection",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "pedestrian on intersection not using a crosswalk",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "stopped car",
-        "pedestrian on road not facing traffic",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "ego vehicle changing lanes to the left"
+        "passenger vehicle swerving left",
+        "objects getting closer to the ego vehicle",
+        "vehicle turning left",
+        "ego vehicle with vehicles on both sides",
+        "motorcycle near construction cone"
     ],
-    "0d37aee4-6508-33a2-998d-724834e80030": [
-        "vehicle accelerating while changing lanes",
-        "pedestrian facing toward ego vehicle",
-        "bicycle facing toward a vehicle",
-        "bus in bus lane",
-        "bicycle facing toward moving traffic",
-        "pedestrian facing toward the bus",
-        "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 facing toward a pedestrian at a crosswalk",
-        "ego vehicle with vehicles on both sides"
+    "121007f3-a0cc-3795-9606-85108b800772": [
+        "bicyclist riding in vehicle lane",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle braking heavily",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle turning left",
+        "vehicle changing lanes while on an intersection",
+        "vehicle two vehicles ahead is turning"
     ],
-    "5d8f4b0a-27f8-3889-925f-e9a146a395eb": [
-        "regular vehicle turning right",
-        "vehicle facing away from the ego vehicle",
+    "22dcf96c-ef5e-376b-9db5-dc9f91040f5e": [
+        "vehicle stopped at construction barrel",
+        "ego vehicle approaching stopped delivery truck",
+        "motorcycle between two vehicles",
+        "vehicle two vehicles ahead is at a stop sign",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
         "passenger vehicle turning right",
-        "dog",
-        "vehicle making a right turn",
-        "stopped car",
-        "stationary object",
-        "parked box trucks",
-        "ego vehicle with vehicles on both sides",
-        "pedestrian to the back-right of the ego vehicle"
-    ],
-    "134bb8e9-9080-3bc5-948d-88d8cc034550": [
-        "vehicle near multiple bollards",
-        "moving bus to the front-left of the ego vehicle",
-        "pedestrians over 30 meters away",
-        "dog",
-        "vehicle being overtaken while approaching another vehicle",
-        "dog near pedestrian",
-        "turning left",
-        "the active vehicle in front of the vehicle ahead",
-        "ego vehicle approaching intersection with crossing dog",
-        "bus with multiple pedestrians waiting on the right side"
+        "oncoming vehicle changing lanes",
+        "vehicle braking heavily",
+        "bus with at least 3 pedestrians within 5 meters"
     ],
-    "a47ba6a9-ffa1-3979-bb40-512339284b8b": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle two cars ahead is braking",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle at intersection facing another vehicle",
-        "group of people",
+    "50d508e2-6753-4519-a8c3-ad94a76ee948": [
         "a group of people",
-        "vehicle being overtaken on the left",
-        "vehicle being crossed by a pedestrian",
-        "pedestrian turning and watching the ego vehicle"
-    ],
-    "dc9c2d63-083f-32c3-90ff-943ca823a245": [
-        "bicycle sharing lane as a regular vehicle",
-        "car following closely behind bicyclist",
-        "bicycle traveling with vehicle traffic",
-        "bicyclist riding in vehicle lane",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle changing lanes while in bike lane",
-        "vehicle changing lanes through bike lane",
-        "bicycle in same lane as a vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "active vehicle at stop sign"
+        "motorcycle or pedestrian within 5 meters to the right",
+        "the vehicle two cars behind the ego vehicle",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle following another vehicle too closely",
+        "vehicle getting passed from the right",
+        "vehicle facing and heading toward pedestrian group",
+        "group of pedestrians ahead of the ego vehicle",
+        "bicyclist changing lanes to the right",
+        "bicycle and vehicle traveling in bike lane"
     ],
-    "61e56102-4d85-3a40-bbba-1a007c816f68": [
-        "vehicle changing lanes while in bike lane",
-        "stop sign behind a pedestrian",
-        "vehicle changing lanes to the right",
-        "vehicle facing away from the ego vehicle",
+    "9f6d282e-f573-31d5-80e6-9a193e80cd7d": [
         "vehicle changing lanes through bike lane",
-        "vehicle moving at crawling speed",
-        "pedestrian near stop sign",
-        "pedestrian on intersection not using a crosswalk",
-        "group of three people",
-        "vehicle two vehicles ahead is at a stop sign"
-    ],
-    "86519a39-4ce9-3d0b-a3f9-dd9aa26a2b25": [
-        "dog crossing in front of vehicle",
-        "pedestrian with multiple dogs",
-        "vehicle two vehicles ahead is at a stop sign",
-        "dog on roadway",
-        "stop sign behind a pedestrian",
-        "pedestrian walking with dog on sidewalk",
         "vehicle stopped at a stop sign",
+        "bicycle following closely behind a vehicle",
+        "bicyclist riding in vehicle lane",
+        "vehicle changing lanes while in bike lane",
         "vehicle turning right at stop sign",
-        "vehicle braking at pedestrian crossing",
-        "vehicle traveling over 20 meters per second"
+        "ego vehicle approaching cyclist in same lane",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "bicycle crossing vehicle path at intersection",
+        "pedestrian to the left of a truck"
     ],
-    "1844c439-b94c-332a-bb94-600818350eb4": [
-        "vehicle turning right with pedestrian in front",
-        "pedestrian walking alongside bollard",
-        "vehicle two vehicles ahead is turning",
-        "vehicle turning right with pedestrian waiting",
-        "pedestrian crossing at bollard",
-        "vehicle near multiple bollards",
-        "vehicles being passed by a motorcycle on either side",
+    "1e6f21fd-5c8a-3526-ac50-72adae89d6a8": [
+        "pedestrian facing toward ego vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
         "motorcyclist",
-        "lane splitting motorcycle",
-        "vehicle two cars ahead is changing lanes"
+        "left lane change while there is a vehicle to the left",
+        "vehicles being passed by a motorcycle on either side",
+        "truck without trailer",
+        "pedestrian facing away from the ego vehicle",
+        "pedestrians over 30 meters away",
+        "car driving in bus lane",
+        "vehicle in close proximity to bicycle"
     ],
-    "20b00c37-4fe4-31dc-a258-dae253ae6992": [
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "accelerating vehicle changing lanes to the right",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle crossing path of another vehicle",
-        "truck on intersection",
-        "ego vehicle two cars ahead of another vehicle",
-        "accelerating truck",
-        "box truck changing lanes to the left",
-        "vehicle to the back right of the ego vehicle"
+    "d97ae2c0-b8d1-341c-94b7-f19d5fd2982a": [
+        "regular vehicles that are stopped or nearly stopped",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle following another vehicle too closely",
+        "the active vehicle in front of the vehicle ahead",
+        "truck without trailer",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle sharing a lane with another vehicle",
+        "bicycle facing toward a vehicle",
+        "ego vehicle with vehicles on both sides",
+        "bicycle following closely behind a vehicle"
     ],
-    "8d8b550e-d0be-3cbb-a371-49ec36fa619f": [
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle being crossed by a pedestrian",
-        "vehicle being overtaken on the left",
-        "pedestrian facing toward ego vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "pedestrian with multiple dogs",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "unattended dog",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "ego vehicle near construction cone"
+    "c6940de1-dccf-3b42-9c39-bbb9feb2d638": [
+        "bicyclist on intersection",
+        "bicyclist riding in vehicle lane",
+        "ego vehicle approaching cyclist in same lane",
+        "bicycle in same lane as a vehicle",
+        "vehicle changing lanes while on an intersection",
+        "bicycle on intersection",
+        "bicycle sharing lane as a regular vehicle",
+        "car following closely behind bicyclist",
+        "vehicle braking heavily",
+        "dog near pedestrian"
     ],
-    "69c0ec7c-e289-3c4d-ade3-d2287ec34026": [
-        "stationary construction barrel",
-        "bicycle near a bus",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "jaywalking pedestrian",
-        "vehicle stopped at construction barrel",
+    "b98a7838-ac1f-339f-93c5-fe7f98ea8657": [
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "ego vehicle near construction cone",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "box truck braking in front of ego vehicle",
         "ego vehicle with parked bicycles ahead",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle approaching stopped delivery truck"
     ],
-    "7f40c022-9f9d-3805-abf8-7533175b3f25": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "motorcycle between two vehicles",
-        "ego vehicle merging between two regular vehicles",
-        "motorcyclist braking hard",
-        "ego vehicle changing lanes to the left",
-        "school bus on intersection",
+    "c70b2c64-7a9a-37c5-b974-709fa0536675": [
+        "bicycle following closely behind a vehicle",
+        "bicycle facing toward moving traffic",
+        "bicycle facing toward a vehicle",
+        "bicycle passing by parked vehicle",
         "construction item on road",
-        "vehicle surrounded by bicycles on all sides",
-        "vehicle braking at pedestrian crossing",
-        "vehicle passing school bus at stop"
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle being overtaken while approaching another vehicle",
+        "ego vehicle changing lanes near construction zone",
+        "box trucks within 10 meters of an intersection",
+        "bicycle traveling with vehicle traffic"
     ],
-    "26daba71-ca0a-37e9-9dc6-0f81f02c0afd": [
-        "pedestrian turning and watching the ego vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "bicyclist riding in vehicle lane",
+    "f03bfd11-5ba2-3bc6-ad76-4166b06491f5": [
+        "vehicle two cars ahead is changing lanes",
+        "car driving in bus lane",
+        "ego vehicle near articulated bus",
+        "bicyclist within 3 meters on either side",
+        "pedestrian near bollard",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "motorcycle in the same lane as a box truck",
+        "vehicle two vehicles ahead is changing lanes",
         "pedestrian on intersection not using a crosswalk",
-        "ego vehicle passing parked motorcycle",
-        "left lane change while there is a vehicle to the left",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle with parked bicycles ahead",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "bicyclist on intersection"
-    ],
-    "2716d83e-8c4f-39a3-a2a3-d5e255fe8a03": [
-        "stationary construction barrel",
-        "pedestrian near construction cone",
-        "vehicle accelerating while changing lanes",
-        "pedestrian turning and watching the ego vehicle",
-        "ego vehicle near construction barrel",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle on intersection",
-        "making a left lane change while there is a vehicle to the right",
-        "bicycle traveling alongside construction indicators",
-        "vehicle passing near person in wheelchair"
-    ],
-    "b4d5e738-b937-33fd-8131-bf1df36f598a": [
-        "making a left lane change while there is a vehicle to the right",
-        "school bus at pedestrian crossing",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle two cars ahead is braking",
-        "vehicle braking at pedestrian crossing",
-        "motorcyclist braking hard",
-        "school bus on intersection",
-        "vehicle braking near pedestrian crossing",
-        "motorcycle between two vehicles",
-        "ego vehicle approaching pedestrian at crosswalk"
+        "vehicle turning right with pedestrian waiting"
     ],
-    "5cf52bbe-f7f4-30c9-a4c2-a1fbb93513e4": [
-        "vehicle approaching stopped vehicle at intersection",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian crossing at bollard",
-        "vehicle with multiple construction cones on the left side",
-        "multiple pedestrians crossing ahead",
+    "87ce1d90-ca77-363b-a885-ec0ef6783847": [
+        "passenger vehicle near stroller in road",
+        "car following closely behind bicyclist",
         "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle being tailgated while approaching stopped traffic",
+        "vehicles being passed by a motorcycle on either side",
         "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle changing lanes while on an intersection",
-        "vehicle two vehicles ahead is turning"
+        "multiple pedestrians crossing ahead",
+        "stroller",
+        "motorcycle between stopped vehicles",
+        "motorcycle passing between parked vehicles",
+        "car with a stroller to its left"
     ],
-    "c062ba0f-7591-3225-a57d-8181622dc2da": [
-        "vehicle facing away from the ego vehicle",
+    "094c4119-eb33-3dfb-a18d-492cbdc8413a": [
+        "vehicle being crossed by a pedestrian",
         "vehicle to the back right of the ego vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "ego vehicle near construction barrel",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle near multiple bollards",
         "vehicle traveling in the opposite direction as the ego vehicle",
-        "regular vehicle turning right",
-        "vehicle two vehicles ahead is turning"
-    ],
-    "57636c80-9335-3aae-af70-11755db93854": [
-        "the vehicle two cars behind the ego vehicle",
-        "objects getting closer to the ego vehicle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "stopped car",
-        "pedestrian facing toward the bus",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "bicyclist on intersection",
-        "pedestrian turning and watching the ego vehicle",
-        "bus with at least 3 pedestrians within 5 meters"
-    ],
-    "7c696d35-e34f-38b0-b4b4-e88803ad1f6a": [
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle with multiple bicycles ahead",
-        "dog near an intersection",
-        "ego vehicle with parked bicycles ahead",
-        "jaywalking pedestrian",
-        "ego vehicle near bollard",
-        "bicycle near traffic cone",
-        "group of three people",
-        "ego vehicle approaching intersection with crossing dog",
-        "pedestrian walking with stroller"
-    ],
-    "9a8aea4b-9b61-3884-9f3c-84c3c36e6373": [
-        "vehicle accelerating aggressively",
-        "car driving in bus lane",
-        "pedestrian walking alongside bollard",
-        "bus with another bus in its lane",
-        "vehicle changing lanes while on an intersection",
-        "bus in bus lane",
-        "bus changing lanes",
-        "pedestrian near construction cone",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "bicycle sharing lane as a regular vehicle"
-    ],
-    "d842ce41-8d9c-3c0f-9c04-595d97be5140": [
-        "vehicle two vehicles ahead is changing lanes",
+        "vehicle facing toward parked vehicles",
+        "vehicle following another vehicle too closely",
         "vehicle with multiple pedestrians to the left",
-        "city bus",
-        "ego vehicle near articulated bus",
-        "regular vehicles that are stopped or nearly stopped",
-        "stop sign behind a pedestrian",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "vehicle two cars ahead is being crossed by a pedestrian"
+        "pedestrian on intersection not using a crosswalk",
+        "dog crossing in front of vehicle"
     ],
-    "b7843066-abbd-3275-ac52-90a8363f65f7": [
-        "vehicle facing toward parked vehicles",
-        "vehicle near multiple bollards",
-        "ego vehicle two cars ahead of another vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle turning right at stop sign",
+    "c1a6c20c-e336-3efa-81b6-7c1242d70bd2": [
+        "pedestrian facing away from the ego vehicle",
         "vehicle stopped at a stop sign",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle two vehicles ahead is at a stop sign",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle navigating near multiple bicycles"
-    ],
-    "e3a935bf-1428-32a4-8d53-caa71ee3de8f": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle at a stop sign",
-        "vehicle two cars ahead is being crossed by a pedestrian",
+        "making a left lane change while there is a vehicle to the right",
+        "box truck changing lanes to the left",
+        "box truck changing lanes ahead",
+        "truck cab with trailer sharing lane with regular vehicle",
         "oncoming vehicle changing lanes",
-        "vehicle two cars ahead is braking",
-        "vehicle with multiple bicycles ahead",
-        "vehicle navigating near multiple bicycles",
-        "bicycle facing toward moving traffic",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+        "active vehicle at stop sign",
+        "the active vehicle in front of the vehicle ahead",
+        "truck without trailer"
     ],
-    "156a412d-3699-3c1c-9ada-6ab587347996": [
-        "vehicle accelerating on intersection",
+    "1b8fc962-7036-4d7f-885e-40b631cbdeaf": [
+        "car driving in bus lane",
+        "vehicle turning right at stop sign",
+        "a group of people",
+        "vehicle two vehicles ahead is changing lanes",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle accelerating more than two meters per second",
+        "vehicle being tailgated while approaching stopped traffic",
         "vehicle to the back right of the ego vehicle",
-        "two cars back from the ego vehicle",
-        "moving bus to the front-left of the ego vehicle",
         "accelerating passenger vehicle",
-        "vehicle accelerating more than two meters per second",
-        "vehicle two vehicles ahead is braking",
-        "bus within 5 meters to either side of ego vehicle",
-        "ego vehicle two cars ahead of another vehicle",
-        "passenger vehicle swerving left"
+        "vehicle being overtaken while approaching another vehicle"
     ],
-    "cd822baf-4aa1-33fa-bfe5-d91386598edb": [
-        "vehicle being passed on the left by another vehicle",
-        "vehicle at a stop sign",
-        "vehicle facing the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "stationary object",
-        "the active vehicle in front of the vehicle ahead",
+    "1579b300-e7f5-3318-97c2-2c827b0c411e": [
+        "ego vehicle two cars ahead of another vehicle",
         "the vehicle two cars behind the ego vehicle",
-        "ego vehicle approaching bicycle merging from bike lane",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle at intersection facing another vehicle",
+        "vehicle two vehicles ahead is turning",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle making a right turn",
+        "ego vehicle changing lanes near construction zone",
         "vehicle navigating near multiple bicycles"
     ],
-    "953087a4-f704-37fe-a60f-82877e84a413": [
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle getting passed from the right",
-        "vehicle changing lanes while in bike lane",
-        "vehicle changing lanes through bike lane",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle accelerating towards pedestrian crossing",
-        "a group of people",
-        "ego vehicle merging between two regular vehicles",
-        "vehicle two vehicles ahead is turning"
-    ],
-    "e5178032-d260-3bc8-968e-a5cb98b6ae5a": [
-        "vehicle crossing path of another vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "parked vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "construction item on road",
-        "vehicle hard braking with another vehicle ahead",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "construction barrel with at least 2 construction cones within 3 meters"
+    "ebece6dc-ec92-326f-97ed-f66b2970e358": [
+        "vehicle passing school bus at stop",
+        "vehicle moving at crawling speed",
+        "motorcyclist",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "objects getting closer to the ego vehicle",
+        "vehicle changing lanes",
+        "the vehicle two cars in front of the ego vehicle",
+        "dog crossing in front of vehicle",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle with animal in front"
     ],
-    "8ca98d88-67b5-385e-80f7-b32758668fab": [
-        "group of people",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian near bollard",
-        "ego vehicle near stroller on sidewalk",
-        "ego vehicle changing lanes to the left",
-        "a group of people",
-        "vehicle near multiple bollards",
-        "stroller",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle accelerating more than two meters per second"
+    "9a25fd14-783b-35c3-ab2d-df4687f82b5e": [
+        "bicycle and vehicle traveling in bike lane",
+        "pedestrian to the back-right of the ego vehicle",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian between moving vehicles on both sides",
+        "passenger vehicle turning left at intersection",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian near construction cone",
+        "bicycle near traffic cone",
+        "vehicle approaching stopped vehicle at intersection",
+        "pedestrians facing each other at close range, possibly conversing"
     ],
-    "51e6b881-e5a1-30c8-ae2b-02891d5a54ce": [
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle being tailgated while approaching stopped traffic",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "bus making right turn",
-        "vehicle turning at intersection with nearby pedestrians",
+    "b28a3715-4624-3a54-9652-b8f0b293a5a8": [
+        "vehicle changing lanes while on an intersection",
+        "vehicle braking near pedestrian crossing",
+        "accelerating vehicle changing lanes to the right",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle accelerating towards pedestrian crossing",
         "passenger vehicle turning left at intersection",
-        "vehicle making a right turn",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two cars ahead is braking"
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "truck sharing a lane with another truck",
+        "traffic officer in roadway",
+        "vehicle braking at pedestrian crossing"
     ],
-    "88ebed6a-e9a4-3d60-9011-ec1df75cc8d6": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian walking with stroller",
-        "pedestrian near bollard",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian with multiple dogs",
-        "pedestrian walking with dog on sidewalk",
-        "pedestrian walking alongside bollard",
-        "pedestrians using designated crossing",
-        "multiple buses within 50 meters ahead",
-        "dog on roadway"
+    "968e77fb-9ab1-3427-8984-9e3028b186e2": [
+        "vehicle being overtaken while approaching another vehicle",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "motorcyclist braking hard",
+        "vehicle navigating near multiple bicycles",
+        "pedestrian walking alongside stopped bus",
+        "truck changing lanes to the right",
+        "pedestrian near stop sign",
+        "box truck with multiple construction cones to its right",
+        "passenger vehicle turning left at intersection",
+        "vehicle with multiple bicycles ahead"
     ],
-    "189c8512-b034-3d58-a372-cf48eacf02dd": [
-        "parked box trucks",
-        "box truck braking in front of ego vehicle",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle two cars ahead is braking",
-        "pedestrian on road not facing traffic",
-        "left lane change while there is a vehicle to the left",
-        "ego vehicle approaching stopped delivery truck",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    "d3dc783e-663a-31b1-bd85-46e04ca693db": [
+        "vehicle changing lanes while in bike lane",
+        "vehicle braking near pedestrian crossing",
+        "bicycle near school bus",
+        "vehicle at intersection facing another vehicle",
+        "motorcycle changing lanes to the left near multiple vehicles",
+        "vehicle braking at pedestrian crossing",
+        "two cars back from the ego vehicle",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle changing lanes through bike lane",
+        "vehicle passing truck with pedestrian crossing ahead"
     ],
-    "1886b0d1-9c5e-326f-99df-30b64044638f": [
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "bus making right turn",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "vehicle braking near jaywalking pedestrian or stroller",
+    "fb2cce69-655d-3203-990a-74301895408d": [
         "stroller",
+        "ego vehicle with vehicles on both sides",
+        "dog crossing in front of vehicle",
+        "vehicle at a stop sign",
         "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle approaching stopped vehicle at intersection"
+        "dog on roadway",
+        "pedestrian with multiple dogs",
+        "any vehicle in front of stop sign",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle stopped at a stop sign"
     ],
-    "e757cddd-5ff5-305a-af11-d7c6747d3979": [
-        "stop sign behind a pedestrian",
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian walking with dog on sidewalk",
+    "03fba633-8085-30bc-b675-687a715536ac": [
+        "pedestrian crossing ahead of ego vehicle",
+        "multiple pedestrians crossing ahead",
+        "ego vehicle with vehicles on both sides",
+        "pedestrian near construction cone",
+        "ego vehicle near bollard",
+        "ego vehicle two cars ahead of another vehicle",
+        "bicycle following closely behind a vehicle",
+        "bicycle facing toward a vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "any vehicle in front of stop sign"
+    ],
+    "d9530d0a-b83e-44a3-910a-2b5bb8f1fb80": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "car turning right",
+        "bus within 5 meters to either side of ego vehicle",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle being overtaken on the right",
+        "vehicle accelerating towards pedestrian crossing",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "ego vehicle with parked bicycles ahead",
+        "bicycle facing toward a vehicle"
+    ],
+    "737314f0-997a-3cd1-a652-78453bfe2b57": [
+        "vehicle getting passed from the right",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle turning right with pedestrian in front",
         "bus with at least 3 pedestrians within 5 meters",
-        "vehicle two vehicles ahead is braking",
-        "pedestrians facing each other at close range, possibly conversing",
-        "stationary object",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "car driving in bus lane",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle changing lanes to the right",
         "pedestrian turning and watching the ego vehicle",
-        "bus changing lanes"
+        "vehicle turning right with pedestrian waiting",
+        "vehicle being overtaken on the right"
     ],
-    "f8825b65-5631-3417-8309-bd5677d694aa": [
-        "vehicle sharing a lane with another vehicle",
-        "vehicle two vehicles ahead is braking",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "pedestrian walking past right side of vehicle",
-        "pedestrian on road not facing traffic",
-        "stopped car",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "turning left",
-        "vehicle changing lanes to the right",
-        "pedestrian walking between two stopped vehicles"
+    "74a3e9ae-6811-4d11-a112-4c4963773cfe": [
+        "truck on intersection",
+        "pedestrian crossing ahead of ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrians using designated crossing",
+        "pedestrian near construction cone",
+        "multiple pedestrians crossing ahead",
+        "pedestrian walking alongside stopped bus",
+        "city bus",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle near multiple bollards"
     ],
-    "debbba6b-8cb8-3ab6-adfe-54fcc6b02839": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "pedestrian crossing between bollards",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian walking alongside bollard",
-        "group of three people",
-        "vehicle approaching stopped vehicle at intersection",
-        "car driving in bus lane",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle turning left while pedestrian crosses at crosswalk"
+    "ad870270-f3d8-3790-866a-78d61b5b76ee": [
+        "vehicle stopped at construction barrel",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle with animal in front",
+        "bicycle crossing vehicle path at intersection",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle navigating near multiple bicycles",
+        "vehicle near construction barrel",
+        "vehicle in close proximity to bicycle",
+        "vehicle with a bicycle to its right",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "54bc6dbc-ebfb-3fba-b5b3-57f88b4b79ca": [
+    "6aae7f38-21de-31bf-8761-29d458338958": [
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle near multiple bollards",
         "construction item on road",
+        "ego vehicle near stroller on sidewalk",
+        "bicycle on intersection",
+        "car turning right",
         "objects getting closer to the ego vehicle",
-        "vehicle being tailgated while approaching stopped traffic",
-        "passenger vehicle turning right",
-        "vehicle turning right near construction zone",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle getting passed from the right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "stationary construction barrel"
+    ],
+    "a4e62775-131f-37c4-9239-c38e3b254dad": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "truck without trailer",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "parked box trucks",
         "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle making a right turn",
-        "vehicle to the back right of the ego vehicle",
-        "group of three people"
+        "vehicle with a bicycle to its right",
+        "vehicle at intersection facing another vehicle",
+        "vehicle being overtaken while approaching another vehicle"
     ],
-    "62879808-1586-4d49-80fe-2f547e355191": [
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle changing lanes",
-        "jaywalking pedestrian",
-        "bus changing lanes",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle with multiple construction cones on the left side",
-        "multiple buses within 50 meters ahead",
-        "car driving in bus lane",
+    "756f4ed0-5352-31e4-b3c6-2841b9e779d7": [
+        "passenger vehicle turning right",
+        "vehicle near multiple bollards",
+        "vehicle accelerating more than two meters per second",
+        "vehicle being passed on the left by another vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "pedestrian with multiple dogs",
+        "vehicle accelerating on intersection",
+        "vehicle moving at crawling speed",
+        "passenger vehicle turning left at intersection",
+        "motorcyclist"
+    ],
+    "1d950a38-5c2f-39ce-9cd3-61249bc85194": [
+        "motorcyclist traveling opposite to bicycle traffic",
+        "moving bicycle directly to the left of the ego vehicle",
+        "person",
         "bicycle and vehicle traveling in bike lane",
-        "vehicle being tailgated while approaching stopped traffic"
+        "bicycle facing toward moving traffic",
+        "pedestrian facing toward ego vehicle",
+        "bicycle traveling against traffic",
+        "vehicle passing school bus at stop",
+        "car following closely behind bicyclist",
+        "accelerating passenger vehicle"
     ],
-    "0322b098-7e42-34db-bcec-9a4d072191e9": [
-        "ego vehicle merging between two regular vehicles",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
+    "7d1d720d-6708-3148-917a-b8dc78f1dcd9": [
+        "truck in the same lane as a bus",
+        "bus in the same lane as a truck",
+        "vehicle being crossed by a pedestrian",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "ego vehicle approaching stopped truck",
         "pedestrian crossing between bollards",
-        "oncoming vehicle changing lanes",
-        "left lane change while there is a vehicle to the left",
-        "making a left lane change while there is a vehicle to the right",
-        "bus with another bus in its lane",
-        "vehicle turning right with pedestrian waiting",
-        "pedestrian between moving vehicles on both sides",
-        "multiple buses within 50 meters ahead"
-    ],
-    "c6c55112-0078-3867-a63f-1861a0125b8d": [
-        "vehicle accelerating aggressively",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle being overtaken on the left",
-        "pedestrians using designated crossing",
-        "vehicle accelerating while changing lanes",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle braking at pedestrian crossing",
-        "pedestrian crossing in front of vehicle at crosswalk"
-    ],
-    "5bd6bd4d-3c89-3794-9935-2d044ce6ef37": [
-        "vehicle changing lanes near message board trailer",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle two vehicles ahead is turning",
-        "stopped car",
+        "pedestrian turning and watching the ego vehicle",
         "vehicle passing truck with pedestrian crossing ahead",
-        "objects getting closer to the ego vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "accelerating passenger vehicle",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "vehicle stopped at a stop sign"
+        "pedestrian approaching a parked vehicle",
+        "multiple pedestrians crossing ahead"
     ],
-    "956dd277-e000-4c6c-af4a-aee4d86971c9": [
-        "vehicle two cars ahead is braking",
-        "active vehicle at stop sign",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "passenger vehicle swerving left",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle moving at crawling speed",
+    "7df1f32e-f059-3ac4-9d57-213f2f69b8b4": [
+        "bicyclist changing lanes to the right",
+        "vehicle being overtaken on the right",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "bus with another bus in its lane",
+        "bicycle on intersection",
+        "vehicle changing lanes",
         "vehicle changing lanes to the right",
-        "vehicle changing lanes while on an intersection"
+        "vehicle being overtaken while approaching another vehicle",
+        "accelerating truck",
+        "vehicle being followed by ego vehicle while being overtaken on right"
     ],
-    "8934694e-8085-3673-96dd-eacebe691ed1": [
-        "ego vehicle with parked bicycles ahead",
-        "vehicle changing lanes through bike lane",
-        "ego vehicle near construction barrel",
-        "group of people",
+    "3c56f1ef-d4df-30ae-80f3-0a5b22d4d3a6": [
+        "vehicle sharing a lane with another vehicle",
+        "oncoming vehicle changing lanes",
         "vehicle changing lanes while in bike lane",
-        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle facing and heading toward pedestrian group",
+        "pedestrian walking with dog on sidewalk",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle changing lanes through bike lane",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle crossing path of another vehicle"
+    ],
+    "c049334b-5568-3ca0-9b28-0c09d00b7bb3": [
+        "vehicles being passed by a motorcycle on either side",
+        "pedestrian crossing at bollard",
+        "bus in bus lane",
+        "stop sign behind a pedestrian",
         "pedestrian walking alongside stopped bus",
-        "bus with at least 3 pedestrians within 5 meters",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "ego vehicle following bicycle closely"
+        "pedestrian with multiple dogs",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "pedestrian walking with dog on sidewalk",
+        "bicycle near traffic cone",
+        "bus with multiple pedestrians waiting on the right side"
     ],
-    "2aea7bd1-432a-43c5-9445-651102487f65": [
-        "bicycle passing by parked vehicle",
-        "bicycle facing toward a vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "bicycle facing toward moving traffic",
-        "vehicle turning left while bicycle crosses from right",
+    "97738d01-b24f-365e-8818-2463149154d2": [
+        "pedestrian turning and watching the ego vehicle",
         "pedestrian near bollard",
-        "passenger vehicle turning right",
-        "pedestrian facing toward ego vehicle",
-        "vehicle stopped at construction barrel",
-        "vehicle being passed on the left by another vehicle"
-    ],
-    "f8412dbd-48b9-39f3-b534-08950f6e633b": [
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "ego vehicle near construction barrel",
-        "stop sign behind a pedestrian",
-        "vehicle at intersection facing another vehicle",
-        "vehicle turning right near construction zone",
-        "vehicle accelerating on intersection",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle near construction barrel",
-        "group of people",
-        "vehicle in close proximity to bicycle"
+        "box truck in bike lane",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "stopped car",
+        "bicyclist on intersection",
+        "vehicle accelerating on intersection"
     ],
-    "c780d53a-2d37-3cd8-9e89-530966aef53e": [
-        "the active vehicle in front of the vehicle ahead",
-        "accelerating passenger vehicle",
-        "stationary object",
+    "a3001373-ae03-3827-8e25-3da1720074ca": [
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bus changing lanes",
         "vehicle at a stop sign",
-        "vehicle facing toward parked vehicles",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle traveling over 20 meters per second",
-        "ego vehicle with vehicles on both sides",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle two vehicles ahead is at a stop sign"
+        "bus within 5 meters to either side of ego vehicle",
+        "bicycle behind a bus",
+        "vehicle within 5 meters of a bicycle",
+        "bus with multiple pedestrians waiting on the right side",
+        "a group of people",
+        "bus with at least 3 pedestrians within 5 meters",
+        "oncoming vehicle changing lanes"
     ],
-    "9bdb4139-173f-33d3-8730-e29752d737d3": [
-        "stroller",
-        "pedestrian walking with stroller",
-        "motorcycle between stopped vehicles",
-        "pedestrian crossing at bollard",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "multiple pedestrians crossing ahead",
-        "bicycle on intersection",
+    "a0cb0614-ee71-3cf3-b891-a4274883362f": [
+        "ego vehicle two cars ahead of another vehicle",
+        "regular vehicle turning right",
         "stopped car",
-        "pedestrian crossing in front of cyclist near intersection"
-    ],
-    "e4f6dbab-f2eb-3bd2-9dbc-88640e3b4a5f": [
-        "vehicle accelerating more than two meters per second",
-        "vehicle accelerating aggressively",
-        "vehicle braking heavily",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle crossing path of another vehicle",
-        "motorcyclist",
+        "the vehicle two cars behind the ego vehicle",
+        "passenger vehicle turning right",
+        "car turning right",
         "vehicle moving at crawling speed",
-        "vehicle changing lanes",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "motorcycle in bike lane"
-    ],
-    "93582b51-5be1-30cd-abb0-3eac16dd6dbc": [
-        "vehicle to the back right of the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "pedestrians over 30 meters away",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "stationary object",
-        "vehicle facing the ego vehicle",
-        "parked vehicle",
-        "vehicle facing away from the ego vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
-    ],
-    "ce0e814a-d9df-3975-a521-d8ae9a091e96": [
-        "jaywalking pedestrian",
-        "pedestrian to the left of a truck",
-        "pedestrian crossing at bollard",
-        "truck on intersection",
-        "vehicle accelerating while changing lanes",
-        "two cars back from the ego vehicle",
-        "truck sharing a lane with another truck",
-        "vehicle being crossed by a pedestrian",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrians using designated crossing"
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian walking past right side of vehicle",
+        "box trucks within 10 meters of an intersection"
     ],
-    "b403f8a3-4cad-333e-8557-d7da2e163f4b": [
-        "pedestrian near construction cone",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian walking alongside stopped bus",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle with multiple bicycles ahead",
+    "bba89165-0e5d-3052-abb6-6a61e37861a3": [
         "vehicle in close proximity to bicycle",
-        "multiple pedestrians crossing ahead",
-        "vehicle facing and heading toward pedestrian group",
-        "bus with another bus in its lane"
-    ],
-    "855908a6-a848-3b7b-a4a3-bbab78a423cd": [
-        "bus with another bus in its lane",
-        "accelerating wheeled devices",
-        "multiple buses within 50 meters ahead",
-        "motorcycle between two vehicles",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "ego vehicle approaching stopped delivery truck",
-        "box truck braking in front of ego vehicle",
-        "motorcyclist",
-        "vehicle changing lanes while on an intersection",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
-    ],
-    "298715e3-b204-3bf5-b8c2-fe3be9e310e8": [
-        "ego vehicle near construction barrel",
-        "vehicle stopped at construction barrel",
-        "vehicle near construction barrel",
-        "pedestrian near stop sign",
-        "vehicle maneuvering between construction barriers",
-        "construction item on road",
-        "vehicle stopped at a stop sign",
+        "pedestrian facing toward ego vehicle",
+        "box trucks within 10 meters of an intersection",
+        "dog",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "dog near pedestrian",
+        "objects getting closer to the ego vehicle",
         "stationary construction barrel",
-        "vehicle turning right near construction zone",
-        "truck on intersection"
-    ],
-    "a1537c1c-775b-3969-ae13-2e83e5a4728a": [
-        "bicycle in same lane as a vehicle",
-        "city bus",
-        "dog near an intersection",
-        "pedestrian crossing ahead of ego vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "multiple pedestrians crossing ahead",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "bus changing lanes",
-        "multiple buses within 50 meters ahead"
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle near construction barrel"
     ],
-    "e424d4f7-4b28-322f-b630-31d42ae528eb": [
-        "ego vehicle changing lanes to the left",
-        "vehicle braking heavily",
-        "vehicle hard braking with another vehicle ahead",
-        "box truck changing lanes to the left",
-        "vehicle two cars ahead is braking",
-        "box truck changing lanes to the right",
+    "91cded81-9f72-3930-bab7-5d3e3fa0a220": [
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
         "box truck changing lanes ahead",
-        "ego vehicle following vehicle being overtaken on right",
-        "motorcyclist braking hard",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
-    ],
-    "a7a2236e-8f8e-34aa-9343-722f9b3bb829": [
-        "bicyclist within 3 meters on either side",
-        "ego vehicle near construction barrel",
-        "bicycle traveling against traffic",
-        "bicycle facing toward moving traffic",
-        "bicycle and vehicle traveling in bike lane",
-        "ego vehicle following vehicle being overtaken on right",
-        "car following closely behind bicyclist",
-        "bicycle following closely behind a vehicle",
-        "left lane change while there is a vehicle to the left",
-        "bicyclist on intersection"
+        "pedestrian facing toward the bus",
+        "box truck braking in front of ego vehicle",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle navigating near multiple bicycles",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle with multiple bicycles ahead",
+        "vehicle accelerating towards pedestrian crossing"
     ],
-    "f7cdc2d1-f59a-30a2-aae8-8bb81c769e6e": [
-        "object that hasn't moved",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "turning left",
-        "ego vehicle near bollard",
-        "pedestrian walking past right side of vehicle",
-        "pedestrians over 30 meters away",
+    "9158b740-6527-3194-9953-6b7b3b28d544": [
+        "bus making right turn",
+        "pedestrian walking with stroller",
+        "vehicle accelerating more than two meters per second",
+        "ego vehicle near stroller on sidewalk",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "multiple pedestrians crossing ahead",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "pedestrian walking alongside stopped bus",
+        "pedestrian on road not facing traffic",
+        "bus with another bus in its lane"
+    ],
+    "47167c79-2ba4-369c-8db8-760a30b4c38a": [
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "bicycle in same lane as a vehicle",
+        "vehicle with multiple pedestrians to the left",
         "vehicle behind another vehicle that has a pedestrian on its right side",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "the vehicle two cars in front of the ego vehicle"
+        "bus with multiple pedestrians waiting on the right side",
+        "vehicle accelerating on intersection",
+        "box truck changing lanes to the left",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle at intersection facing another vehicle",
+        "person"
     ],
-    "0749e9e0-ca52-3546-b324-d704138b11b5": [
-        "making a left lane change while there is a vehicle to the right",
+    "47972731-b0ea-3c38-a10f-5ffdd42329fc": [
+        "any vehicle in front of stop sign",
+        "bus with another bus in its lane",
+        "ego vehicle approaching stopped truck",
+        "pedestrian crossing at bollard",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "group of three people",
+        "box truck in bike lane",
+        "active vehicle at stop sign",
         "truck sharing a lane with another truck",
-        "accelerating truck",
-        "box truck changing lanes to the right",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle in dense traffic with lane-changing vehicles",
-        "vehicle two vehicles ahead is changing lanes",
-        "box trucks within 10 meters of an intersection",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle two vehicles ahead is at a stop sign"
+        "ego vehicle in dense traffic with lane-changing vehicles"
     ],
-    "b81922e7-092f-3052-8cd1-fec6a6763295": [
-        "box truck changing lanes ahead",
-        "box truck changing lanes to the left",
-        "construction item on road",
-        "vehicle being overtaken on the left",
-        "vehicle being overtaken while approaching another vehicle",
-        "box trucks within 10 meters of an intersection",
-        "vehicle maneuvering between construction barriers",
-        "ego vehicle near construction barrel",
-        "truck in the same lane as a bus",
-        "pedestrian walking between trailers"
+    "a7c9bb12-322e-3f8e-8798-cf57a4a72f99": [
+        "bicycle sharing lane as a regular vehicle",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "regular vehicle turning right",
+        "motorcycle near construction cone",
+        "bicyclist riding in vehicle lane",
+        "box truck near at least 3 construction cones",
+        "bicycle on intersection",
+        "bicycle in same lane as a vehicle",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle near construction barrel"
     ],
-    "5d333477-796b-3e49-bf41-0cdbed39c8dd": [
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle changing lanes while in bike lane",
-        "vehicle facing and accelerating toward pedestrian on road",
-        "vehicle changing lanes through bike lane",
-        "objects getting closer to the ego vehicle",
-        "vehicle making a right turn",
-        "pedestrian crossing between bollards",
-        "ego vehicle near bollard",
-        "ego vehicle near pedestrian crossing sign",
-        "vehicle passing bicycle near mobile pedestrian sign"
+    "ff8e7fdb-1073-3592-ba5e-8111bc3ce48b": [
+        "moving bus to the front-left of the ego vehicle",
+        "pedestrian with multiple dogs",
+        "vehicle with animal in front",
+        "vehicle turning right near construction zone",
+        "making a left lane change while there is a vehicle to the right",
+        "bicycle passing by parked vehicle",
+        "vehicle near construction barrel",
+        "pedestrian on road not facing traffic",
+        "vehicle turning right with pedestrian waiting",
+        "oncoming vehicle changing lanes"
     ],
-    "5aed7fcd-651c-38a7-9523-9d48bf92aeaa": [
-        "parked vehicle",
-        "vehicle moving at crawling speed",
-        "the vehicle two cars in front of the ego vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle being overtaken on the right",
-        "truck on intersection",
-        "bus in the same lane as a truck",
-        "stationary object",
-        "pedestrian crossing between bollards",
-        "vehicle braking near pedestrian crossing"
+    "3b2994cb-5f82-4835-9212-0cac8fb3d164": [
+        "bicyclist within 3 meters on either side",
+        "bicycle near traffic cone",
+        "car driving in bus lane",
+        "city bus",
+        "bicycle traveling alongside construction indicators",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicyclist changing lanes to the right",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle with animal in front",
+        "ego vehicle approaching cyclist in same lane"
     ],
-    "41b6f7d7-e431-3992-b783-74b9edf42215": [
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "regular vehicle turning right",
-        "vehicle stopped at a stop sign",
-        "passenger vehicle turning left at intersection",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "group of people",
-        "passenger vehicle swerving left",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
+    "e0ba7664-d287-39df-8193-00d60cae1417": [
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "bicycle facing toward a vehicle",
+        "pedestrian with multiple dogs",
+        "vehicle in close proximity to bicycle",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "dog near an intersection",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle facing and heading toward pedestrian group",
+        "bicycle facing toward moving traffic"
     ],
-    "aa105408-2974-35e7-ae76-35060cfde21a": [
-        "car following closely behind bicyclist",
+    "c67f439a-f945-33cb-8517-40c9fdf60d59": [
+        "pedestrian on road not facing traffic",
+        "school bus at pedestrian crossing",
+        "bicycle near school bus",
         "bicycle in same lane as a vehicle",
-        "ego vehicle approaching stopped delivery truck",
-        "bicycle sharing lane as a regular vehicle",
         "ego vehicle approaching cyclist in same lane",
-        "bicyclist on intersection",
+        "bicycle near traffic cone",
+        "bicyclist changing lanes to the right",
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "box trucks within 10 meters of an intersection",
-        "ego vehicle merging between two regular vehicles",
-        "ego vehicle following vehicle that is being overtaken on the right"
-    ],
-    "93b755f1-f865-44dc-a98d-cae5eb1a25d0": [
-        "any vehicle in front of stop sign",
-        "vehicle at a stop sign",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "dog",
-        "active vehicle at stop sign",
-        "group of people",
-        "oncoming vehicle changing lanes",
-        "vehicle accelerating aggressively"
-    ],
-    "76038978-47aa-30ed-bfa1-2d63753a866c": [
-        "ego vehicle approaching pedestrian at crosswalk",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "pedestrian near construction cone",
-        "pedestrian near bollard",
-        "pedestrian near stop sign",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle near multiple bollards",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle traveling over 20 meters per second"
+        "school bus on intersection",
+        "bicyclist within 3 meters on either side"
     ],
-    "902d5e72-b665-3615-af2d-a2b6164864b2": [
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle braking near pedestrian crossing",
+    "c71cd96c-8e3f-3861-9ece-fcbabebc63a8": [
+        "a group of people",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "objects getting closer to the ego vehicle",
+        "vehicle changing lanes to the right",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
         "accelerating vehicle changing lanes to the right",
-        "ego vehicle merging between two regular vehicles",
-        "vehicle changing lanes while on an intersection",
-        "ego vehicle changing lanes to the left",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle braking at pedestrian crossing",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "pedestrian crossing ahead of ego vehicle"
+        "pedestrian to the left of a truck",
+        "vehicle turning left",
+        "vehicle being overtaken while approaching another vehicle"
     ],
-    "fa708289-f2b2-399e-989e-53f83fa379c5": [
+    "a88da814-ecc6-39c0-93ba-8a81f403a7e4": [
+        "passenger vehicle turning left at intersection",
+        "ego vehicle changing lanes near construction zone",
         "bus within 5 meters to either side of ego vehicle",
-        "moving bus to the front-left of the ego vehicle",
-        "turning left",
-        "construction item on road",
-        "vehicle near construction barrel",
-        "ego vehicle near construction barrel",
-        "ego vehicle approaching stopped delivery truck",
-        "box truck braking in front of ego vehicle",
-        "car turning right",
-        "making a left lane change while there is a vehicle to the right"
+        "bicycle near a bus",
+        "vehicle in close proximity to bicycle",
+        "motorcyclist",
+        "vehicle being overtaken while approaching another vehicle",
+        "motorcycle overtaking a vehicle",
+        "bicycle behind a bus",
+        "vehicles being passed by a motorcycle on either side"
     ],
-    "0a8a4cfa-4902-3a76-8301-08698d6290a2": [
+    "a4f72852-c2ff-35d3-8375-e52055508240": [
+        "truck changing lanes to the right",
+        "vehicle stopped at a stop sign",
+        "active vehicle at stop sign",
+        "vehicle turning right at stop sign",
+        "vehicle being overtaken on the left",
+        "vehicle turning at intersection with nearby pedestrians",
+        "box trucks within 10 meters of an intersection",
         "any vehicle in front of stop sign",
-        "vehicle moving at crawling speed",
-        "vehicle at a stop sign",
-        "vehicle two cars ahead is braking",
-        "ego vehicle near construction cone",
-        "vehicle accelerating aggressively",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "group of people",
-        "passenger vehicle turning left at intersection"
-    ],
-    "c0d36fde-5672-430a-9dd1-3e2a5d4f6cab": [
-        "pedestrians using designated crossing",
-        "bicycle on intersection",
-        "group of three people",
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian on intersection not using a crosswalk",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bicyclist on intersection",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "making a left lane change while there is a vehicle to the right"
-    ],
-    "1a4e2d86-23d4-3a0d-a9ac-8b0936ae94ce": [
-        "stroller",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle turning right with pedestrian waiting",
-        "motorcyclist",
-        "pedestrian between moving vehicles on both sides",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "parked box trucks",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "vehicle two vehicles ahead is changing lanes"
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being passed on the left by another vehicle"
     ],
-    "4e1ac476-80a2-3612-bfd7-1abd24d2b644": [
-        "bicycle near traffic cone",
-        "vehicle being tailgated while approaching stopped traffic",
-        "pedestrian crossing at bollard",
-        "ego vehicle approaching cyclist in same lane",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle facing and heading toward pedestrian group",
-        "bicycle crossing vehicle path at intersection",
-        "truck sharing a lane with another truck",
-        "pedestrian on road not facing traffic"
+    "ab8c747b-b9cb-3835-a275-54c56cb9a469": [
+        "vehicle with multiple pedestrians to the left",
+        "pedestrian walking past right side of vehicle",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle being crossed by a pedestrian",
+        "pedestrian to the left of a truck",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrian near stop sign",
+        "a group of people",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle stopped at a stop sign"
     ]
 }
\ No newline at end of file