diff --git "a/log_prompt_pairs_val.json" "b/log_prompt_pairs_val.json"
--- "a/log_prompt_pairs_val.json"
+++ "b/log_prompt_pairs_val.json"
@@ -1,1802 +1,1802 @@
 {
-    "f3cd0d0d-8b71-3266-9732-d9f0d5778eb6": [
-        "vehicle stopped at construction barrel",
-        "the vehicle two cars behind the ego vehicle",
-        "pedestrian near construction cone",
-        "ego vehicle near construction barrel",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+    "20dd185d-b4eb-3024-a17a-b4e5d8b15b65": [
+        "bicycle sharing lane as a regular vehicle",
+        "ego vehicle driving during snow",
         "vehicle turning at intersection with nearby pedestrians",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle near construction barrel",
-        "school bus on intersection",
-        "vehicle passing stopped school bus"
+        "vehicle changing lanes while in bike lane",
+        "vehicle turning right with pedestrian waiting",
+        "ego vehicle making two right turns within 15 seconds",
+        "ego vehicle navigating a busy roundabout",
+        "any vehicle in front of stop sign",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle turning right with pedestrian in front"
+    ],
+    "5f278cdd-ca28-3c53-8f5c-04e62308811d": [
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle changing lanes to the right",
+        "vehicle braking at pedestrian crossing",
+        "bicycle in same lane as a vehicle",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle braking near pedestrian crossing",
+        "vehicle waiting to safely merge into adjacent lane",
+        "pedestrian standing at crosswalk with back to road"
+    ],
+    "6aaf5b08-9f84-3a2e-8a32-2e50e5e11a3c": [
+        "motorcycle between two vehicles",
+        "vehicle accelerating towards pedestrian crossing",
+        "car driving in bus lane",
+        "group of three people",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bus passing ego vehicle on the right",
+        "bus changing lanes",
+        "bus signaling to merge in front of the ego vehicle",
+        "bus with another bus in its lane",
+        "bicycle facing toward a vehicle"
     ],
     "bdb9d309-f14b-3ff6-ad1f-5d3f3f95a13e": [
-        "stroller",
-        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "multiple buses within 50 meters ahead",
         "pedestrian walking with stroller",
+        "ego vehicle following vehicle that is being overtaken on the right",
         "box truck with multiple construction cones to its right",
-        "stop sign behind a pedestrian",
+        "ego vehicle traveling over filled pothole",
+        "school bus at pedestrian crossing",
         "ego vehicle passing parked bus",
-        "school bus on intersection",
         "box truck in the same lane as a school bus",
-        "vehicle passing stopped school bus",
-        "box truck braking in front of ego vehicle"
-    ],
-    "dfc6d65f-20f5-389d-a5cd-81c1c7ecb11f": [
-        "vehicle with multiple pedestrians to the left",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "a group of people",
-        "object that hasn't moved",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "pedestrian turning and watching the ego vehicle",
-        "moving bus being crossed by a bicycle",
-        "bicyclist riding in vehicle lane"
-    ],
-    "e1d68dde-22a9-3918-a526-0850b21ff2eb": [
-        "bicyclist riding in vehicle lane",
-        "bicycle sharing lane as a regular vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle in same lane as a vehicle",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
-        "bicyclist on intersection",
-        "bicycle traveling with vehicle traffic",
-        "bicycle on intersection",
-        "vehicle facing toward parked vehicles",
-        "parked vehicle"
-    ],
-    "88f47a10-87b4-3ea8-a0c7-a07d825b647d": [
-        "bicyclist riding in vehicle lane",
-        "vehicle turning left with a bicycle in front of it",
-        "vehicle surrounded by bicycles on all sides",
-        "bicycle following closely behind a vehicle",
-        "bicycle passing by parked vehicle",
-        "car following closely behind bicyclist",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "bicyclist changing lanes to the right",
-        "vehicle changing lanes near group of cyclists"
+        "ego vehicle navigating a busy roundabout"
     ],
-    "e50e7698-de3d-355f-aca2-eddd09c09533": [
-        "bicycle facing toward a vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian near construction cone",
-        "pedestrian to the back-right of the ego vehicle",
+    "11ba4e81-c26f-3cd1-827d-b6913bcef64e": [
+        "Ego vehicle on bridge",
+        "ego vehicle stopping to let another vehicle merge into their lane",
+        "vehicle changing lanes to the right",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
         "vehicle turning right with pedestrian waiting",
-        "bicycle passing by parked vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle passing between bus and construction barrier",
-        "vehicle turning right near construction zone"
-    ],
-    "da036982-92bf-36a8-b880-4ccf4e20b74e": [
-        "vehicle with multiple construction cones on the left side",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle getting passed from the right",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle being overtaken on the left",
-        "objects getting closer to the ego vehicle",
-        "pedestrian walking alongside stopped bus"
-    ],
-    "20d47f81-46e8-3adf-a0ca-564fbb5c599d": [
-        "box truck braking in front of ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
         "vehicle turning right with pedestrian in front",
-        "pedestrian turning and watching the ego vehicle",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "vehicle two vehicles ahead is turning",
-        "passenger vehicle swerving left",
-        "passenger vehicle turning left at intersection",
-        "vehicle accelerating more than two meters per second",
-        "ego vehicle following vehicle being overtaken on right"
-    ],
-    "15ec0778-826e-3ed7-9775-54fbf66997f4": [
-        "unattended dog",
-        "ego vehicle driving during daylight",
-        "jaywalking pedestrian",
-        "vehicle turning right at stop sign",
-        "dog",
-        "ego vehicle driving on a clear day",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle being crossed by a pedestrian",
-        "vehicle changing lanes",
-        "pedestrian walking past right side of vehicle"
-    ],
-    "858d739b-a0ba-35aa-bafc-4f7988bcad17": [
-        "vehicle braking heavily",
-        "bicycle passing by parked vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "bicycle traveling alongside parked vehicles",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle two vehicles ahead is turning",
-        "bicycle in vehicle lane with vehicle"
+        "vehicle near construction barrel",
+        "school bus on intersection",
+        "vehicle stopping to let another vehicle merge into their lane",
+        "vehicle near message board trailer"
     ],
-    "11ba4e81-c26f-3cd1-827d-b6913bcef64e": [
-        "vehicle near message board trailer",
-        "construction item on road",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian turning and watching the ego vehicle",
-        "motorcycle between stopped vehicles",
-        "vehicles being passed by a motorcycle on either side",
+    "201fe83b-7dd7-38f4-9d26-7b4a668638a9": [
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
         "vehicle near construction barrel",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "truck sharing a lane with another truck",
-        "vehicle changing lanes while on an intersection"
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle being overtaken on the right",
+        "vehicle maneuvering between construction barriers",
+        "vehicle accelerating on intersection",
+        "school bus stuck on top of intersection due to traffic",
+        "vehicle stopped at construction barrel",
+        "motorcyclist braking hard",
+        "vehicle crossing over railroad tracks"
     ],
-    "f4c94798-4d77-36ab-bdc5-c1194e5e7aff": [
-        "pedestrian on intersection not using a crosswalk",
-        "city bus",
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle turning right with pedestrian waiting",
+    "9e9bcfb7-601d-3d80-bc12-ef7025174beb": [
+        "group of pedestrians ahead of the ego vehicle",
         "passenger vehicle swerving left",
-        "vehicle accelerating while changing lanes",
-        "multiple buses within 50 meters ahead",
-        "pedestrian to the back-right of the ego vehicle",
-        "ego vehicle near articulated bus",
-        "vehicle hard braking with another vehicle ahead"
+        "dog near pedestrian",
+        "ego vehicle following another vehicle through a right turn",
+        "vehicle crossing path of another vehicle",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "construction signs indicating road is closed",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "dog near an intersection",
+        "city bus"
     ],
-    "9f871fb4-3b8e-34b3-9161-ed961e71a6da": [
+    "b19f3c1a-a84a-3a2d-8d1b-8a4ae201020b": [
+        "stopped car",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "bus across the intersection from the ego vehicle",
+        "pedestrians getting off bus",
+        "ego vehicle near bollard",
+        "pedestrian walking alongside stopped bus",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
         "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian walking past right side of vehicle",
-        "pedestrians using designated crossing",
-        "vehicle with multiple bicycles ahead",
-        "city bus",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian walking alongside bollard",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "regular vehicle turning right",
-        "car driving in bus lane"
-    ],
-    "72cf3ca1-1a9e-3254-bca0-29c62521e454": [
-        "ego vehicle driving during snow",
-        "vehicle near multiple bollards",
-        "accelerating passenger vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle braking heavily",
-        "vehicle being overtaken on the right",
-        "ego vehicle following vehicle being overtaken on right",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle making a right turn"
-    ],
-    "5589de60-1727-3e3f-9423-33437fc5da4b": [
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "car driving in bus lane",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "bus in bus lane",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "city bus",
-        "pedestrian crossing ahead of ego vehicle",
-        "ego vehicle following bicycle closely",
-        "vehicle in close proximity to bicycle"
+        "making a left lane change while there is a vehicle to the right",
+        "bus with multiple pedestrians waiting on the right side"
     ],
     "2c652f9e-8db8-3572-aa49-fae1344a875b": [
-        "vehicle near construction barrel",
-        "ego vehicle driving at dusk or dawn",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "truck with long trailer making turn at intersection",
         "vehicle accelerating more than two meters per second",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "car driving in bus lane",
         "vehicle stopped at construction barrel",
-        "vehicle changing lanes while on an intersection",
-        "vehicle accelerating towards pedestrian crossing",
-        "making a left lane change while there is a vehicle to the right"
-    ],
-    "b87683ae-14c5-321f-8af3-623e7bafc3a7": [
-        "vehicle two vehicles ahead is braking",
-        "turning left",
-        "box trucks within 10 meters of an intersection",
-        "vehicle being overtaken while approaching another vehicle",
-        "box truck in bike lane",
-        "vehicle following another vehicle too closely",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "parked box trucks",
-        "motorcycle overtaking a vehicle"
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "vehicle crossing over railroad tracks",
+        "ego vehicle driving at dusk or dawn",
+        "vehicle near construction barrel",
+        "vehicle turning right near construction zone"
     ],
-    "201fe83b-7dd7-38f4-9d26-7b4a668638a9": [
+    "bd90cd1a-38b6-33b7-adec-ba7d4207a8c0": [
+        "regular vehicles that are stopped or nearly stopped",
+        "bus signaling to merge in front of the ego vehicle",
         "the active vehicle in front of the vehicle ahead",
-        "motorcyclist braking hard",
-        "vehicle near construction barrel",
+        "vehicle approaching multiple pedestrians at crosswalk",
         "bus within 5 meters to either side of ego vehicle",
-        "construction item on road",
-        "vehicle turning right near construction zone",
-        "vehicle stopped at construction barrel",
-        "stationary construction barrel",
-        "vehicle traveling over 20 meters per second",
-        "motorcycle at stop sign"
-    ],
-    "f292cc5c-7a90-360d-b62a-074c643bdf59": [
-        "vehicle turning right with pedestrian waiting",
-        "ego vehicle driving while it is cloudy",
-        "multiple pedestrians crossing ahead",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle turning right with pedestrian in front",
+        "person",
+        "bus passing ego vehicle on the right",
+        "city bus",
         "ego vehicle following vehicle being overtaken on right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bicycle facing toward a vehicle"
+        "objects getting closer to the ego vehicle"
     ],
-    "65387aee-4490-38b9-8f4f-1fc43bd4ac06": [
-        "vehicle changing lanes",
-        "accelerating passenger vehicle",
-        "vehicle being crossed by a pedestrian",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle changing lanes to the left",
+    "8749f79f-a30b-3c3f-8a44-dbfa682bbef1": [
         "bus within 5 meters to either side of ego vehicle",
-        "stationary construction barrel",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle being passed on the left by another vehicle"
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "box truck braking in front of ego vehicle",
+        "people conversing while on the street",
+        "motorcycle in the same lane as a box truck",
+        "vehicle being overtaken on the right",
+        "person taking a nap near the street",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "182ba3f7-b89a-36cc-ae40-32a341b0d3e9": [
-        "ego vehicle driving on a clear day",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle facing away from the ego vehicle",
-        "vehicle facing the ego vehicle",
-        "pedestrian turning and watching the ego vehicle",
-        "jaywalking pedestrian",
-        "vehicle moving at crawling speed",
-        "passenger vehicle turning left at intersection",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away"
+    "b5a7ff7e-d74a-3be6-b95d-3fc0042215f6": [
+        "Bicyclist cutting across road to enter a sidewalk.",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle with a bicycle to its right",
+        "person with shopping cart interrupting ego vehicle's turn",
+        "group of three people",
+        "parked box trucks",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "ego vehicle approaching crossing pedestrians",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle two vehicles ahead is being crossed by a pedestrian"
     ],
-    "c2d44a70-9fd4-3298-ad0a-c4c9712e6f1e": [
-        "vehicle facing the ego vehicle",
-        "vehicle getting passed from the right",
-        "vehicle moving at crawling speed",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle sharing a lane with another vehicle",
-        "ego vehicle driving at dusk or dawn",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle facing away from the ego vehicle",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "ego vehicle driving on a clear day"
+    "e42aa296-0e5d-4733-87ec-131a82f917bc": [
+        "vehicle accelerating on intersection",
+        "pedestrian crossing at bollard",
+        "vehicle changing lanes through bike lane",
+        "bus with at least 3 pedestrians within 5 meters",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "ego vehicle near bollard",
+        "ego vehicle traveling down a brick street",
+        "bus making a turn at a stop sign",
+        "oncoming vehicle changing lanes"
     ],
-    "de56b100-508b-3479-81fe-735349f8e8de": [
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "stop sign behind a pedestrian",
+    "0bae3b5e-417d-3b03-abaa-806b433233b8": [
+        "ego vehicle near construction barrel",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle stopped at construction barrel",
+        "box truck changing lanes to the right",
+        "vehicle near construction barrel",
+        "multiple pedestrians crossing ahead",
+        "vehicle approaching ego vehicle during unprotected left turn",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle making a right turn on a red light"
+    ],
+    "95bf6003-7068-3a78-a0c0-9e470a06e60f": [
+        "bicycle traveling alongside parked vehicles",
         "pedestrian to the left of a truck",
-        "pedestrian near stop sign",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle changing lanes to the left",
-        "truck on intersection",
-        "left lane change while there is a vehicle to the left",
-        "vehicle at intersection facing another vehicle",
-        "stopped car"
+        "ego vehicle passing vehicles in a slower lane",
+        "bicycle in same lane as a vehicle",
+        "pedestrian crossing ahead of ego vehicle",
+        "moving bicycle directly to the left of the ego vehicle",
+        "parked car with turned wheels",
+        "ego vehicle driving during rain",
+        "vehicle changing lanes",
+        "bicyclist within 3 meters on either side"
     ],
-    "47286726-5dd4-4e26-bd2d-5324f429e445": [
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle being crossed by a pedestrian",
-        "vehicle being overtaken on the left",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "motorcyclist",
-        "motorcycle overtaking a vehicle",
-        "ego vehicle driving at dusk or dawn",
-        "ego vehicle changing lanes to the right with a vehicle ahead"
+    "1da4a0aa-22ae-3958-856d-05303de1f576": [
+        "truck changing lanes to the right",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "vehicle two cars ahead is changing lanes",
+        "school bus on intersection",
+        "ego vehicle camera experiencing non-environmental degradation",
+        "school bus stuck on top of intersection due to traffic",
+        "construction item on road",
+        "vehicle two vehicles ahead is at a stop sign",
+        "vehicle traveling over 20 meters per second",
+        "school bus at pedestrian crossing"
     ],
-    "04994d08-156c-3018-9717-ba0e29be8153": [
-        "vehicle with multiple bicycles ahead",
-        "vehicle near ego-vehicle",
-        "the active vehicle in front of the the vehicle ahead",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian walking past right side of vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "pedestrian crossing at bollard",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "bicycle traveling alongside parked vehicles"
+    "6c932547-4c11-31d7-b8ef-0c16a13dbfc3": [
+        "ego vehicle approaching crossing pedestrians",
+        "motorcycle merging into lane of another motorcycle",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle traveling alongside parked vehicles",
+        "vehicle reversing to parallel park",
+        "motorcycle near construction cone",
+        "bicycle sharing lane as a regular vehicle",
+        "car following closely behind bicyclist",
+        "vehicle two vehicles ahead is turning",
+        "stroller"
     ],
-    "0b5142c1-420b-3fea-9e98-b87327ae22c6": [
-        "making a left lane change while there is a vehicle to the right",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle two vehicles ahead is changing lanes",
-        "ego vehicle driving while it is cloudy",
-        "vehicle being overtaken on the right",
-        "oncoming vehicle changing lanes",
-        "left lane change while there is a vehicle to the left",
-        "vehicle accelerating while changing lanes",
-        "group of three people",
-        "ego vehicle with parked bicycles ahead"
+    "7de2e535-81df-3d5f-a5ca-62e4b940eb54": [
+        "box truck braking in front of ego vehicle",
+        "stopped car",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle turning right next to pedestrian with stroller",
+        "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",
+        "vehicle being overtaken on the left",
+        "vehicle at intersection facing another vehicle",
+        "regular vehicle turning right",
+        "truck with trailer making a wide right turn over lane"
     ],
-    "185d3943-dd15-397a-8b2e-69cd86628fb7": [
-        "stop sign behind a pedestrian",
-        "wheeled rider crossing in front of vehicle at stop sign",
-        "vehicle turning right near construction zone",
-        "ego vehicle following vehicle that is being overtaken on the right",
+    "f1275002-842e-3571-8f7d-05816bc7cf56": [
+        "truck on intersection",
+        "dog crossing in front of vehicle",
+        "dog on roadway",
         "pedestrian walking with dog on sidewalk",
-        "dog near pedestrian",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "multiple people jaywalking in front of the ego vehicle",
         "pedestrian near stop sign",
-        "motorcyclist",
-        "vehicle approaching and facing a stopped vehicle at an intersection"
+        "pedestrian near construction cone",
+        "vehicle approaching stopped vehicle at intersection",
+        "person on a ladder",
+        "pedestrian to the left of a truck"
     ],
-    "20dd185d-b4eb-3024-a17a-b4e5d8b15b65": [
-        "ego vehicle near bollard",
-        "vehicle turning right with pedestrian in front",
-        "vehicle accelerating on intersection",
-        "ego vehicle driving during snow",
-        "active vehicle at stop sign",
-        "vehicle turning right with pedestrian waiting",
+    "4c33fc38-5e59-34f8-96ba-4e5a404d3988": [
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle being overtaken on the left",
+        "person crossing an intersection in the same direction as the ego vehicle",
         "vehicle being passed on the left by another vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "ego vehicle approaching crossing pedestrians",
-        "vehicle between two bicycles while on pedestrian crossing"
-    ],
-    "b8489c02-60d0-3f44-a3b4-9de62830d666": [
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "bicycle following closely behind a vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "pedestrian crossing crosswalk during an oncoming vehicle's green light",
         "motorcyclist",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle two vehicles ahead is changing lanes",
-        "box truck changing lanes to the left",
-        "ego vehicle approaching stopped delivery truck"
-    ],
-    "20bcd747-ef60-391a-9f4a-ae99f049c260": [
-        "multiple motorcycles ahead of the ego vehicle",
-        "motorcycle near construction cone",
-        "motorcycle near stop sign",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicles being passed by a motorcycle on either side",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "motorcycle at stop sign",
-        "motorcycle between two vehicles",
-        "oncoming vehicle changing lanes",
-        "pedestrian on road not facing traffic"
+        "ego vehicle driving during rain",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "d770f926-bca8-31de-9790-73fbb7b6a890": [
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle getting passed from the right",
-        "car following closely behind bicyclist",
-        "vehicle two vehicles ahead is turning",
-        "vehicle braking heavily",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle in close proximity to bicycle",
-        "bicyclist on intersection",
-        "bicycle between two vehicles traveling in same direction"
+    "bbd19ca1-805a-3c22-8df3-cd7501aa06f3": [
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "left lane change while there is a vehicle to the left",
+        "regular vehicle turning right",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle turning left",
+        "school bus near construction zone",
+        "motorcyclist",
+        "vehicle passing ego vehicle on nearly empty straight road",
+        "vehicle stopped at a stop sign",
+        "ego vehicle approaching pedestrian at crosswalk"
     ],
-    "7dbc2eac-5871-3480-b322-246e03d954d2": [
-        "vehicle at a stop sign",
-        "object that hasn't moved",
-        "ego vehicle driving during daylight",
-        "ego vehicle driving on a clear day",
-        "vehicle accelerating on intersection",
-        "accelerating passenger vehicle",
+    "58e82365-03bc-3b2f-b55a-a4ad0e3e792d": [
+        "vehicle braking heavily",
+        "vehicle being passed on the left by another vehicle",
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "the vehicle two cars in front of the ego vehicle",
+        "ego vehicle waiting for solid lane markings to end before making a lane change",
+        "another autonomous vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle at intersection facing another vehicle",
         "vehicle making a right turn",
-        "vehicle being overtaken on the right",
-        "vehicle turning right at stop sign"
+        "vehicle sharing a lane with another vehicle"
     ],
-    "3b3570b4-7b0b-3268-a571-b0889dbf40b6": [
-        "vehicle within 5 meters of a bicycle",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle with multiple bicycles ahead",
-        "passenger vehicle swerving left",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle with a bicycle to its right",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle two vehicles ahead is turning",
-        "vehicle changing lanes through bike lane",
-        "accelerating truck"
+    "ba67827f-6b99-3d2a-96ab-7c829eb999bb": [
+        "vehicle stopped at a stop sign",
+        "active vehicle at stop sign",
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle nearly collides with side of ego vehicle at intersection",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "people conversing while on the street",
+        "bicycle facing toward a vehicle",
+        "vehicle crossing path of another vehicle",
+        "vehicle two cars ahead is braking"
     ],
-    "e72ef05c-8b94-3885-a34f-fff3b2b954b4": [
-        "a group of people",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "group of people",
-        "vehicle near multiple bollards",
-        "vehicle traveling in the same direction as the ego vehicle",
+    "eec284b2-840a-3c75-aa42-04d2e309bbe1": [
+        "dog near pedestrian",
+        "objects getting closer to the ego vehicle",
+        "bicycle traveling with vehicle traffic",
         "vehicle turning at intersection with nearby pedestrians",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle two cars ahead is braking"
+        "vehicle waiting to safely merge into adjacent lane",
+        "bicycle facing toward a vehicle",
+        "car following ego vehicle within ten meters",
+        "vehicle facing toward parked vehicles",
+        "ego vehicle near construction cone",
+        "vehicle following another vehicle too closely"
     ],
-    "b5a7ff7e-d74a-3be6-b95d-3fc0042215f6": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle crossing path of another vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian walking alongside stopped bus",
-        "bicycle following closely behind a vehicle"
+    "d89f80be-76d0-3853-8daa-76605cf4ce5e": [
+        "vehicle being overtaken on the left",
+        "bicycle on intersection",
+        "ego vehicle traveling over a pothole",
+        "bicyclist riding in vehicle lane",
+        "vehicle traveling through a parking lot",
+        "jaywalking pedestrian",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicyclist on intersection",
+        "bicycle near traffic cone",
+        "bicycle traveling alongside construction indicators"
     ],
     "19f53e16-9f99-3035-9672-7e860f3b0048": [
-        "accelerating truck",
+        "vehicle making a right turn on a red light",
+        "vehicle navigating near multiple bicycles",
+        "bicycle passing by parked vehicle",
+        "vehicle braking at pedestrian crossing",
+        "vehicle turning right next to pedestrian with stroller",
+        "ego vehicle in middle lane getting passed on both sides",
+        "vehicle making left turn at intersection in front of ego vehicle",
         "car with a stroller to its left",
-        "stroller",
         "vehicle passing truck with pedestrian crossing ahead",
-        "passenger vehicle near stroller in road",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian facing toward ego vehicle",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks",
-        "truck changing lanes to the right"
+        "child riding a tricycle"
     ],
-    "76916359-96f4-3274-81fe-bb145d497c11": [
-        "wheeled rider crossing in front of vehicle at stop sign",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle getting passed from the right",
-        "making a left lane change while there is a vehicle to the right",
-        "car turning right",
-        "vehicle two vehicles ahead is changing lanes",
+    "f292cc5c-7a90-360d-b62a-074c643bdf59": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian on intersection not using a crosswalk",
         "oncoming vehicle changing lanes",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "group of people",
-        "pedestrian crossing between stopped buses"
-    ],
-    "19350c96-623d-4d77-af96-f8c23f00c358": [
-        "vehicle turning right at stop sign",
         "pedestrian crossing ahead of ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "vehicle at a stop sign",
-        "ego vehicle approaching crossing pedestrians",
-        "ego vehicle driving during daylight",
-        "vehicle at intersection facing another vehicle",
-        "vehicle stopped at a stop sign",
-        "the vehicle two cars behind the ego vehicle",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "dog on roadway",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrian using crosswalk during no-crossing symbol",
+        "three busses traveling in the same lane",
+        "parked box trucks"
     ],
-    "6c932547-4c11-31d7-b8ef-0c16a13dbfc3": [
-        "bicycle traveling alongside parked vehicles",
-        "moving bicycle directly to the left of the ego vehicle",
+    "dc9077b9-2fe0-3d18-9b97-8067ff090874": [
+        "vehicle being tailgated while approaching stopped traffic",
+        "bicycle in same lane as a vehicle",
+        "ego vehicle near construction cone",
         "bicycle sharing lane as a regular vehicle",
-        "bicycle passing by parked vehicle",
-        "stroller",
-        "bicycle in vehicle lane with vehicle",
-        "motorcycle near construction cone",
-        "pedestrian walking with stroller",
-        "box truck with multiple construction cones to its right",
-        "pedestrian with stroller jaywalking"
-    ],
-    "8749f79f-a30b-3c3f-8a44-dbfa682bbef1": [
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrians facing each other at close range, possibly conversing",
-        "stationary object",
-        "group of people",
-        "pedestrians using designated crossing",
-        "two cars back from the ego vehicle",
-        "pedestrian facing toward the bus",
-        "pedestrian facing toward ego vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle turning left at intersection while sharing lane with a bus"
+        "jaywalking pedestrian",
+        "stationary construction barrel",
+        "bicycle traveling with vehicle traffic",
+        "vehicles waiting at traffic light",
+        "ego vehicle approaching police car with its police lights on",
+        "ego vehicle near construction barrel"
     ],
-    "bf382949-3515-3c16-b505-319442937a43": [
-        "vehicle changing lanes",
-        "vehicle moving at crawling speed",
-        "ego vehicle driving while it is cloudy",
-        "vehicle facing toward parked vehicles",
-        "vehicle traveling over 20 meters per second",
-        "left lane change while there is a vehicle to the left",
-        "school bus on intersection",
+    "05fa5048-f355-3274-b565-c0ddc547b315": [
+        "bicyclist traveling against traffic on street",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "vehicle changing lanes through bike lane",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "bus within 5 meters to either side of ego vehicle",
         "vehicle changing lanes while on an intersection",
-        "vehicles approaching stopped school bus with children nearby",
-        "school bus at pedestrian crossing"
-    ],
-    "9bb1f857-8b61-369f-a537-484c1323ae32": [
-        "ego vehicle near bollard",
-        "ego vehicle two cars ahead of another vehicle",
-        "city bus",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "left lane change while there is a vehicle to the left",
-        "parked box trucks",
-        "box truck braking in front of ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle with multiple pedestrians to the left",
-        "truck in the same lane as a bus"
-    ],
-    "4c33fc38-5e59-34f8-96ba-4e5a404d3988": [
+        "vehicle braking near jaywalking pedestrian or stroller",
         "vehicle being overtaken on the left",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle being passed on the left by another vehicle",
-        "multiple pedestrians crossing ahead",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "ego vehicle driving during rain",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "ego vehicle two cars ahead of another vehicle"
+        "truck with traffic cone passing ego vehicle",
+        "vehicle passing truck with pedestrian crossing ahead"
     ],
-    "ba67827f-6b99-3d2a-96ab-7c829eb999bb": [
-        "bicycle facing toward moving traffic",
-        "vehicle two vehicles ahead is turning",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle being overtaken on the left",
-        "active vehicle at stop sign",
-        "vehicle two cars ahead is braking",
-        "vehicle at a stop sign",
+    "19350c96-623d-4d77-af96-f8c23f00c358": [
+        "ego vehicle being crossed by a jaywalking pedestrian while being followed by another car",
+        "vehicle turning right at stop sign",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "person",
+        "pedestrian facing toward ego vehicle",
         "vehicle stopped at a stop sign",
-        "vehicle with multiple bicycles ahead",
-        "wheeled rider crossing between moving vehicles"
-    ],
-    "91aab547-1912-3b8e-8e7f-df3b202147bf": [
-        "pedestrian between moving vehicles on both sides",
-        "stopped car",
-        "the vehicle two cars in front of the ego vehicle",
-        "moving bus to the front-left of the ego vehicle",
-        "stationary object",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrians over 30 meters away",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "bus changing lanes"
-    ],
-    "78683234-e6f1-3e4e-af52-6f839254e4c0": [
-        "vehicle facing away from the ego vehicle",
         "vehicle two vehicles ahead is braking",
-        "regular vehicles that are stopped or nearly stopped",
-        "jaywalking pedestrian",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "stationary object",
-        "parked vehicle",
-        "vehicle turning left with a bicycle in front of it",
-        "pedestrians using designated crossing"
+        "regular vehicle turning right",
+        "vehicle waiting for ego vehicle to turn",
+        "vehicle at a stop sign"
     ],
-    "de9cf513-a0cd-3389-bc79-3f9f6f261317": [
-        "vehicle hard braking with another vehicle ahead",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle crossing path of another vehicle",
+    "7fab2350-7eaf-3b7e-a39d-6937a4c1bede": [
+        "vehicle turning right at stop sign",
+        "vehicle flashing lights indicating to ego vehicle it is safe to turn",
+        "pedestrian walking down the center of a street",
+        "blue car in front of green car",
+        "bicyclist within 3 meters on either side",
+        "ego vehicle near bollard",
         "vehicle two cars ahead is braking",
-        "vehicle getting passed from the right",
-        "ego vehicle merging between two regular vehicles",
-        "bicycle passing by parked vehicle"
+        "vehicle with multiple bicycles ahead",
+        "ego vehicle approaching stopped delivery truck",
+        "bicycle following closely behind a vehicle"
     ],
-    "2f2321d2-7912-3567-a789-25e46a145bda": [
-        "motorcyclist",
-        "vehicle turning right near construction zone",
-        "pedestrian walking alongside bollard",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle in close proximity to bicycle",
-        "bicycle following closely behind a vehicle",
-        "bicycle facing toward a vehicle",
-        "car following closely behind bicyclist",
-        "bicycle sharing lane as a regular vehicle",
-        "vehicle turning near group of cyclists"
+    "77574006-881f-3bc8-bbb6-81d79cf02d83": [
+        "vehicle at intersection facing another vehicle",
+        "vehicle braking at pedestrian crossing",
+        "vehicle turning at intersection with nearby pedestrians",
+        "any vehicle in front of stop sign",
+        "passenger vehicle turning right",
+        "ego vehicle waiting for vehicle in adjacent turn lane to pass them in order to turn",
+        "vehicle changing lanes",
+        "group of people",
+        "vehicle going over curb during a turn",
+        "vehicle turning right with pedestrian in front"
     ],
-    "36aec72e-5086-376c-b109-295b128e77e1": [
-        "vehicle being overtaken on the right",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+    "d1395998-7e8a-417d-91e9-5ca6ec045ee1": [
+        "vehicle two lanes over approaching from behind",
+        "vehicle accelerating on intersection",
+        "pedestrian crossing crosswalk during an oncoming vehicle's green light",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "vehicle turning right near construction zone",
+        "pedestrians over 30 meters away",
+        "vehicle accelerating towards pedestrian crossing",
         "two cars back from the ego vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle being overtaken on the left",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle at intersection facing another vehicle",
-        "pedestrian facing toward ego vehicle",
-        "any vehicle in front of stop sign"
+        "pedestrian facing toward the bus",
+        "vehicle following another vehicle too closely"
     ],
-    "22052525-4f85-3fe8-9d7d-000a9fffce36": [
-        "vehicles being passed by a motorcycle on either side",
+    "1f434d15-8745-3fba-9c3e-ccb026688397": [
+        "ego vehicle navigating intersection with construction on all four sides",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle stopped at construction barrel",
+        "ego vehicle near construction barrel",
+        "vehicle within 5 meters of a bicycle",
+        "ego vehicle routed onto opposite side of the road due to construction"
+    ],
+    "3bffdcff-c3a7-38b6-a0f2-64196d130958": [
+        "vehicle braking heavily",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle making an unprotected left turn during green light",
+        "large truck being towed",
+        "vehicle to the back right of the ego vehicle",
         "vehicle two cars ahead is changing lanes",
-        "vehicle being overtaken on the left",
-        "vehicle two vehicles ahead is turning",
-        "vehicle at intersection facing another vehicle",
-        "motorcyclist",
-        "construction item on road",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "ego vehicle approaching stopped truck",
         "vehicle two vehicles ahead is changing lanes",
-        "bicyclist within 3 meters on either side",
-        "ego vehicle driving while it is cloudy"
+        "vehicle crossing path of another vehicle"
     ],
-    "7039e410-b5ab-35aa-96bc-2c4b89d3c5e3": [
-        "group of three people",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle hard braking with another vehicle ahead",
+    "d770f926-bca8-31de-9790-73fbb7b6a890": [
+        "parked box trucks",
+        "pedestrian near bollard",
         "a group of people",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
         "vehicle in close proximity to bicycle",
-        "pedestrian near bollard",
-        "vehicle surrounded by bicycles on all sides",
-        "bicycle between two vehicles traveling in same direction"
+        "vehicle parked on the curb",
+        "vehicle within 5 meters of a bicycle",
+        "ego vehicle passing parked bus",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle following another vehicle through a right turn",
+        "pedestrian walking alongside bollard"
     ],
-    "51bbdd4d-3065-34ae-b369-b6e0444f34db": [
-        "motorcycle between stopped vehicles",
-        "pedestrian walking with stroller",
-        "stopped vehicles at intersection being crossed by pedestrians",
+    "214e388e-cbd7-3dde-a204-d2ec42298808": [
+        "vehicle turning right with pedestrian waiting",
+        "pedestrian turning and watching the ego vehicle",
+        "ego vehicle near articulated bus",
+        "ego vehicle waiting for solid lane markings to end before making a lane change",
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle approaching bicyclist separated by bollards",
+        "pedestrian walking alongside stopped bus",
+        "bicycle on intersection",
+        "bicycle traveling with vehicle traffic",
+        "bicyclist riding in vehicle lane"
+    ],
+    "25e5c600-36fe-3245-9cc0-40ef91620c22": [
+        "vehicles waiting at traffic light",
+        "vehicle traveling over 20 meters per second",
+        "vehicle turning right with pedestrian in front",
+        "ego vehicle pulled onto intersection to make unprotected left turn",
+        "ego vehicle near articulated bus",
+        "vehicle changing lanes",
         "stroller in the same lane as a regular vehicle",
+        "vehicle changing lanes while in bike lane",
+        "box truck in bike lane",
+        "bus making right turn"
+    ],
+    "bf360aeb-1bbd-3c1e-b143-09cf83e4f2e4": [
+        "dog on roadway",
+        "regular vehicles that are stopped or nearly stopped",
+        "ego vehicle driving on a clear day",
+        "ego vehicle going into oncoming lane to pass stopped vehicle",
+        "pedestrian walking with dog on sidewalk",
         "moving pedestrian within 3 meters to the left of ego vehicle",
-        "stroller",
-        "motorcycle between two vehicles",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "ego vehicle near stroller on sidewalk"
+        "dog near pedestrian",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle traveling in opposite direction encroaches on ego vehicle's lane, causing the ego vehicle to maneuver",
+        "dog near an intersection"
     ],
     "b2053fdc-0b94-30bc-aee7-5bc6fb7e9f52": [
-        "object that hasn't moved",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle changing lanes through bike lane",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "passenger vehicle turning right",
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle driving during daylight",
-        "the vehicle two cars in front of the ego vehicle",
-        "pedestrian near bollard",
-        "pedestrian near construction cone"
-    ],
-    "ff0dbfc5-8a7b-3a6e-8936-e5e812e45408": [
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "ego vehicle with vehicles on both sides",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle braking heavily",
-        "jaywalking pedestrian",
-        "pedestrian facing toward ego vehicle",
-        "pedestrian near bollard",
-        "multiple pedestrians crossing ahead",
-        "motorcycle overtaking a vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk"
-    ],
-    "05fa5048-f355-3274-b565-c0ddc547b315": [
+        "vehicle navigating a busy town square",
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle traveling in opposite direction encroaches on ego vehicle's lane, causing the ego vehicle to maneuver",
+        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle near multiple bollards",
+        "vehicle moving at crawling speed",
         "vehicle changing lanes while in bike lane",
-        "truck without trailer",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "the active vehicle in front of the the vehicle ahead",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "pedestrian to the left of a truck",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "vehicle two vehicles ahead is at a stop sign",
-        "vehicle navigating near multiple bicycles"
-    ],
-    "58fed0d4-97d5-469b-89a4-4394838e10c7": [
-        "pedestrian walking past right side of vehicle",
-        "pedestrians over 30 meters away",
-        "pedestrian on intersection not using a crosswalk",
-        "ego vehicle driving on a clear day",
-        "vehicle with multiple construction cones on the left side",
-        "parked vehicle",
-        "vehicle being crossed by a pedestrian",
-        "a group of people",
-        "ego vehicle near mobile pedestrian sign",
-        "vehicle getting passed from the right"
+        "vehicle facing toward parked vehicles",
+        "vehicle turning left",
+        "vehicle behind another vehicle that has a pedestrian on its right side"
     ],
-    "dfc32963-1524-34f4-9f5e-0292f0f223ae": [
-        "vehicle with a bicycle to its right",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian between moving vehicles on both sides",
-        "dog",
+    "2e3f2ae7-9ab9-3aef-a3ce-a0a97a0cb1ab": [
+        "pedestrian crossing between bollards",
+        "vehicle surrounded by bicycles on all sides",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "ego vehicle approaching bicyclist separated by bollards",
         "group of pedestrians ahead of the ego vehicle",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "motorcycle between two vehicles",
-        "dog running in the road"
+        "bicyclist on intersection",
+        "pedestrian crossing at bollard",
+        "approaching bicyclist obstructed from view of the ego vehicle",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle and vehicle traveling in bike lane"
     ],
-    "5f278cdd-ca28-3c53-8f5c-04e62308811d": [
-        "bus within 5 meters to either side of ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "vehicle being overtaken on the left",
+    "c2d44a70-9fd4-3298-ad0a-c4c9712e6f1e": [
         "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle changing lanes to the right",
-        "pedestrian facing toward the bus",
-        "vehicle at intersection facing another vehicle",
-        "vehicle crossing path of another vehicle",
-        "motorcycle near stop sign",
-        "pedestrian on intersection not using a crosswalk"
+        "pedestrians using designated crossing",
+        "ego vehicle driving at dusk or dawn",
+        "two motorcycles at a stop sign",
+        "pedestrian facing toward ego vehicle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle following another vehicle too closely",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "car following ego vehicle within ten meters",
+        "vehicle at intersection facing another vehicle"
     ],
-    "b213af37-7d89-342d-ae39-8a3c72159a01": [
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "truck cab with trailer sharing lane with regular vehicle",
+    "2f2321d2-7912-3567-a789-25e46a145bda": [
+        "bicycle facing toward a vehicle",
+        "vehicle near message board trailer",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle near multiple bollards",
+        "bicycle facing toward moving traffic",
+        "vehicle waiting for ego vehicle to turn",
+        "vehicle cutting across lanes in front of ego vehicle to make a turn",
+        "vehicle changing lanes",
         "vehicle turning right near construction zone",
-        "vehicle maneuvering between construction barriers",
-        "box truck with multiple construction cones to its right",
-        "truck changing lanes to the right",
-        "vehicle with multiple construction cones on the left side",
-        "multiple motorcycles ahead of the ego vehicle",
-        "ego vehicle changing lanes near construction zone"
+        "bicycle following closely behind a vehicle"
     ],
     "0fb7276f-ecb5-3e5b-87a8-cc74c709c715": [
-        "vehicle two vehicles ahead is at a stop sign",
         "pedestrian walking with dog on sidewalk",
+        "box truck at stop sign",
+        "vehicle with animal in front",
+        "vehicle traveling over a double yellow to get around a stopped vehicle",
+        "ego vehicle near construction cone",
+        "vehicle braking near pedestrian crossing",
         "ego vehicle merging between two regular vehicles",
-        "dog near an intersection",
-        "ego vehicle changing lanes to the left",
-        "dog on roadway",
-        "pedestrian crossing at bollard",
-        "unattended dog",
-        "vehicle accelerating while changing lanes",
-        "ego vehicle following vehicle that is being overtaken on the right"
-    ],
-    "24642607-2a51-384a-90a7-228067956d05": [
-        "bicycle in same lane as a vehicle",
-        "bicyclist within 3 meters on either side",
-        "bicyclist on intersection",
-        "bicycle on intersection",
-        "bicycle in vehicle lane with vehicle",
-        "bicycle passing by parked vehicle",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "vehicle turning right with pedestrian in front",
-        "ego vehicle near construction cone"
+        "vehicle making a u-turn",
+        "vehicle two vehicles ahead is at a stop sign",
+        "dog near an intersection"
     ],
-    "77574006-881f-3bc8-bbb6-81d79cf02d83": [
-        "regular vehicle turning right",
-        "vehicle turning right with pedestrian in front",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "passenger vehicle turning right",
-        "vehicle making a right turn",
-        "vehicle changing lanes to the right",
+    "dfc6d65f-20f5-389d-a5cd-81c1c7ecb11f": [
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "child crossing street holding hands with their parent",
+        "a group of people",
+        "the vehicle two cars behind the ego vehicle",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle proceeding through a green light without turning",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "group of people",
+        "vehicle turning left",
         "jaywalking pedestrian"
     ],
-    "d89f80be-76d0-3853-8daa-76605cf4ce5e": [
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle passing by parked vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicyclist riding in vehicle lane",
-        "bicycle near traffic cone",
-        "bicycle traveling alongside construction indicators",
-        "bicyclist on intersection",
-        "bicycle sharing lane as a regular vehicle",
-        "pedestrian facing toward the bus",
-        "truck being passed by ego vehicle while nearby pedestrians cross between construction barriers"
+    "e0ea281b-6956-3605-b720-71b54ec87d25": [
+        "construction cones placed to block turn onto intersection",
+        "pedestrian on intersection not using a crosswalk",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "ego vehicle near construction barrel",
+        "motorcyclist",
+        "box trucks within 10 meters of an intersection",
+        "vehicle being overtaken while approaching another vehicle",
+        "group of people",
+        "vehicle going over curb during a turn",
+        "jaywalking pedestrian"
     ],
-    "52071780-5758-3ed4-8835-0d64ecdc5575": [
+    "bf382949-3515-3c16-b505-319442937a43": [
+        "truck following ego vehicle on a cloud day",
+        "moving bus to the front-left of the ego vehicle",
+        "stop sign attached toward the back of a school bus",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle changing lanes while on an intersection",
         "two cars back from the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "stopped car",
-        "vehicle with multiple pedestrians to the left",
-        "turning left",
-        "vehicle with multiple bicycles ahead",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle being overtaken on the right",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "bicycle facing toward a vehicle"
+        "school bus on intersection",
+        "vehicle making a right turn",
+        "ego vehicle driving while it is cloudy",
+        "vehicle traveling over 20 meters per second"
     ],
-    "b19f3c1a-a84a-3a2d-8d1b-8a4ae201020b": [
-        "pedestrian walking alongside stopped bus",
+    "335aabef-269e-3211-a99d-2c3a3a8f8475": [
+        "ego vehicle coming out from under dark bridge",
+        "ego vehicle stopping to let a scooter use a crosswalk",
+        "pedestrian walking with stroller",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "motorcyclist braking hard",
+        "bus changing lanes",
         "bus with multiple pedestrians waiting on the right side",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "stopped car",
-        "pedestrians using designated crossing",
-        "bus with at least 3 pedestrians within 5 meters",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian walking past right side of vehicle",
-        "left lane change while there is a vehicle to the left",
-        "vehicle being overtaken while approaching another vehicle"
-    ],
-    "d1395998-7e8a-417d-91e9-5ca6ec045ee1": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle following another vehicle too closely",
-        "vehicle accelerating on intersection",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle near construction barrel",
-        "vehicle moving at crawling speed",
-        "vehicle at intersection facing another vehicle",
-        "vehicle getting passed from the right",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "bus making right turn"
-    ],
-    "472a240a-10cd-39cd-8681-558f7c7cf868": [
-        "vehicle turning right with pedestrian in front",
-        "any vehicle in front of stop sign",
-        "vehicle changing lanes while on an intersection",
-        "vehicle stopped at a stop sign",
-        "active vehicle at stop sign",
-        "vehicle changing lanes to the right",
-        "vehicle near multiple bollards",
-        "vehicle braking heavily",
-        "vehicle approaching multiple pedestrians at crosswalk",
-        "vehicle two cars ahead is changing lanes"
+        "vehicle passing truck with pedestrian crossing ahead",
+        "motorcycle in the same lane as a box truck",
+        "bicycle facing toward moving traffic"
     ],
-    "e42aa296-0e5d-4733-87ec-131a82f917bc": [
-        "accelerating vehicle changing lanes to the right",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bus with at least 3 pedestrians within 5 meters",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian walking alongside bollard",
-        "ego vehicle near bollard",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "pedestrian on road not facing traffic",
-        "pedestrian between moving vehicles on both sides"
+    "9f871fb4-3b8e-34b3-9161-ed961e71a6da": [
+        "pedestrians over 30 meters away",
+        "vehicle accelerating while changing lanes",
+        "group of three people",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "accelerating passenger vehicle",
+        "person crossing an intersection in the same direction as the ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "person in wheelchair traveling down the street",
+        "pedestrian crossing ahead of ego vehicle",
+        "multiple pedestrians crossing ahead"
     ],
-    "02a00399-3857-444e-8db3-a8f58489c394": [
-        "object that hasn't moved",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle facing toward parked vehicles",
+    "de9cf513-a0cd-3389-bc79-3f9f6f261317": [
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "ego vehicle in dense traffic with lane-changing vehicles",
         "ego vehicle with vehicles on both sides",
-        "ego vehicle driving on a clear day",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle facing the ego vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection"
+        "food truck set up in vehicle lane",
+        "vehicle two cars ahead is braking",
+        "ego vehicle two cars ahead of another vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "ego vehicle in driving lane that transitions to parallel parking area",
+        "group of pedestrians ahead of the ego vehicle"
     ],
-    "b6500255-eba3-3f77-acfd-626c07aa8621": [
-        "turning left",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian facing toward the bus",
-        "vehicle stopped at a stop sign",
-        "vehicle two vehicles ahead is at a stop sign",
+    "51bbdd4d-3065-34ae-b369-b6e0444f34db": [
         "motorcycle between stopped vehicles",
-        "bus making right turn",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle stopped at construction barrel",
-        "bus with multiple pedestrians waiting on the right side"
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "pedestrian walking with stroller",
+        "group of people crossing at a non-crosswalk near ego vehicle.",
+        "ego vehicle traveling over a pothole",
+        "bicycle traveling alongside construction indicators",
+        "vehicle with multiple bicycles ahead",
+        "passenger vehicle near stroller in road",
+        "pedestrian walking with dog on sidewalk",
+        "stroller in the same lane as a regular vehicle"
     ],
-    "c865c156-0f26-411c-a16c-be985333f675": [
-        "bicycle in same lane as a vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling against traffic",
-        "car following closely behind bicyclist",
-        "bicycle on intersection",
+    "4e3fedbb-847c-3d5b-8a62-c9ff84550985": [
+        "vehicle turning at intersection with nearby pedestrians",
+        "parked cars blocking in other parked cars",
+        "pedestrian crossing at bollard",
         "bicyclist riding in vehicle lane",
-        "bicycle in vehicle lane with vehicle",
-        "bicyclist on intersection",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "ego vehicle approaching bicycle merging from bike lane"
-    ],
-    "dc9077b9-2fe0-3d18-9b97-8067ff090874": [
-        "vehicle within 5 meters of a bicycle",
-        "bicycle traveling with vehicle traffic",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle facing the ego vehicle",
-        "ego vehicle near construction cone",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle in same lane as a vehicle",
-        "wheeled rider crossing in front of vehicle at stop sign",
-        "vehicle with a bicycle to its right"
-    ],
-    "f2576c8a-da9b-450e-88cf-a70af1b0eadf": [
-        "vehicle stopped at construction barrel",
-        "ego vehicle near construction cone",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "group of pedestrians ahead of the ego vehicle",
-        "group of people",
-        "ego vehicle near construction barrel",
-        "vehicle maneuvering between construction barriers",
-        "vehicle with multiple construction cones on the left side",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle with multiple pedestrians to the left"
-    ],
-    "280269f9-6111-311d-b351-ce9f63f88c81": [
-        "pedestrian crossing at bollard",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle with multiple bicycles ahead",
-        "pedestrian to the left of a truck",
-        "bicycle following closely behind a vehicle",
-        "pedestrian walking alongside stopped bus",
-        "parked box trucks",
-        "ego vehicle approaching stopped truck",
-        "box truck in bike lane",
-        "ego vehicle driving during snow"
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle changing lanes but then changing back within a few seconds",
+        "vehicle carrying a bicycle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle near multiple bollards"
     ],
-    "7fab2350-7eaf-3b7e-a39d-6937a4c1bede": [
-        "vehicle near multiple bollards",
-        "vehicle navigating near multiple bicycles",
-        "vehicle with a bicycle to its right",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "bicycle following closely behind a vehicle",
-        "vehicle two cars ahead is braking",
+    "15ec0778-826e-3ed7-9775-54fbf66997f4": [
+        "vehicle being crossed by a pedestrian",
+        "ego vehicle driving during daylight",
+        "vehicle traveling over a double yellow to get around a stopped vehicle",
         "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle with multiple bicycles ahead",
-        "moving bicycle directly to the left of the ego vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian"
+        "two vehicles making a complete stop to avoid colliding with each other at an intersection",
+        "vehicle at a stop sign",
+        "truck on intersection",
+        "vehicle turning right at stop sign",
+        "unattended dog",
+        "pedestrian crossing between bollards"
     ],
-    "cae56e40-8470-3c9c-af75-6e444189488f": [
-        "turning left",
-        "dog near pedestrian",
-        "passenger vehicle turning left at intersection",
-        "dog near an intersection",
-        "dog",
-        "vehicle changing lanes to the right",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle being crossed by a pedestrian",
-        "vehicle moving at crawling speed",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle"
+    "88f47a10-87b4-3ea8-a0c7-a07d825b647d": [
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle surrounded by bicycles on all sides",
+        "bicycle in same lane as a vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "bicycle in vehicle lane with vehicle",
+        "making an unprotected left turn while there is a vehicle in the opposite left turn lane",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicycle passing by parked vehicle",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle pulling a trailer"
     ],
-    "87ca3d9f-f317-3efb-b1cb-aaaf525227e5": [
-        "pedestrian between moving vehicles on both sides",
-        "vehicle stopped at construction barrel",
-        "motorcyclist",
-        "motorcyclist braking hard",
-        "ego vehicle near construction barrel",
-        "motorcycle overtaking a vehicle",
+    "b6500255-eba3-3f77-acfd-626c07aa8621": [
+        "ego vehicle following vehicle being overtaken on right",
         "moving bus to the front-left of the ego vehicle",
-        "ego vehicle with vehicles on both sides",
-        "vehicle at a stop sign",
+        "motorcycle between two vehicles",
+        "pedestrian near stop sign",
+        "bus making right turn",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "bus making a turn at a stop sign",
+        "oncoming vehicle changing lanes",
+        "vehicle ahead of ego vehicle has its reverse lights on",
         "bus with another bus in its lane"
     ],
-    "0c3bad78-9f1e-395d-a376-2eb7499229fd": [
-        "vehicle in close proximity to bicycle",
-        "pedestrian crossing at bollard",
-        "pedestrian near bollard",
-        "pedestrians over 30 meters away",
-        "vehicle being crossed by a pedestrian",
+    "65387aee-4490-38b9-8f4f-1fc43bd4ac06": [
+        "accelerating passenger vehicle",
         "pedestrian turning and watching the ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "pedestrian near construction cone",
-        "objects getting closer to the ego vehicle",
-        "pedestrian approaching a parked vehicle"
-    ],
-    "25e5c600-36fe-3245-9cc0-40ef91620c22": [
-        "passenger vehicle turning right",
-        "vehicle turning right with pedestrian in front",
-        "vehicle traveling over 20 meters per second",
+        "vehicle making left turn at intersection in front of ego vehicle",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
         "vehicle turning at intersection with nearby pedestrians",
-        "vehicle changing lanes through bike lane",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle changing lanes",
-        "vehicle changing lanes while in bike lane",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle approaching pedestrians waiting at a crosswalk"
-    ],
-    "1f434d15-8745-3fba-9c3e-ccb026688397": [
-        "vehicle stopped at construction barrel",
-        "vehicle turning right with pedestrian waiting",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "ego vehicle near construction barrel",
-        "vehicle turning right with pedestrian in front",
-        "vehicle turning right near construction zone",
-        "vehicle with a bicycle to its right",
-        "construction item on road",
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian crossing ahead of ego vehicle"
-    ],
-    "78da7b7e-8ddf-3c7d-8716-eaa890106dd3": [
-        "pedestrian walking past right side of vehicle",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "pedestrians over 30 meters away",
-        "regular vehicles that are stopped or nearly stopped",
-        "accelerating passenger vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle two vehicles ahead is braking",
-        "truck sharing a lane with another truck",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians"
+        "vehicle second in line waiting at a red light",
+        "vehicle braking heavily",
+        "ego vehicle changing lanes to the left",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle braking near pedestrian crossing"
     ],
-    "9a448a80-0e9a-3bf0-90f3-21750dfef55a": [
-        "vehicle traveling over 20 meters per second",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "stopped car",
-        "vehicle accelerating on intersection",
-        "pedestrians using designated crossing",
-        "regular vehicle turning right",
-        "pedestrian between moving vehicles on both sides",
-        "car turning right",
-        "pedestrian crossing at bollard",
-        "pedestrians facing each other at close range, possibly conversing"
+    "b213af37-7d89-342d-ae39-8a3c72159a01": [
+        "vehicle maneuvering between construction barriers",
+        "bicycle traveling with vehicle traffic",
+        "box truck with multiple construction cones to its right",
+        "box truck braking in front of ego vehicle",
+        "cement mixer on the side of the road",
+        "city bus",
+        "motorcycle at stop sign",
+        "road work crew at a busy intersection",
+        "pedestrian waiting for ego vehicle to pass before crossing the street",
+        "truck cab with trailer sharing lane with regular vehicle"
     ],
-    "d5d6f11c-3026-3e0e-9d67-c111233e22de": [
-        "motorcycle between two vehicles",
-        "motorcycle between stopped vehicles",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle traveling over 20 meters per second",
-        "bicyclist on intersection",
-        "car following closely behind bicyclist",
-        "bicycle on intersection",
-        "bicycle near a bus",
+    "e1d68dde-22a9-3918-a526-0850b21ff2eb": [
         "group of at least 3 moving bicyclists within 5 meters of each other",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle"
-    ],
-    "544a8102-0ef5-3044-921e-dc0544370376": [
-        "ego vehicle driving at dusk or dawn",
-        "box truck changing lanes to the right",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "ego vehicle approaching stopped delivery truck",
-        "box truck changing lanes to the left",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "truck without trailer",
-        "box truck changing lanes ahead",
-        "two cars back from the ego vehicle",
-        "ego vehicle near bollard"
-    ],
-    "e13c06cb-cd01-380e-946f-6d92ac1af49d": [
-        "vehicle within 5 meters of a bicycle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "the vehicle two cars behind the ego vehicle",
-        "pedestrian near stop sign",
-        "stop sign behind a pedestrian",
-        "a group of people",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle passing bicycle near mobile pedestrian sign",
-        "ego vehicle driving while it is cloudy"
-    ],
-    "a1589ae2-2678-310e-91cc-c4b512cd7fa5": [
+        "bicycle in same lane as a vehicle",
+        "a continuous stream of cyclists",
+        "ego vehicle two cars ahead of another vehicle",
+        "bicyclist on intersection",
+        "vehicle following behind utility vehicle (UTV) on the road",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle traveling in the opposite direction as the ego vehicle",
         "parked vehicle",
-        "object that hasn't moved",
-        "vehicle turning right at stop sign",
-        "passenger vehicle turning right",
-        "car turning right",
-        "vehicle at a stop sign",
-        "vehicle making a right turn",
-        "stationary object",
-        "pedestrians over 30 meters away",
-        "vehicle braking near pedestrian crossing"
+        "vehicle facing toward parked vehicles"
     ],
-    "7a2c222d-addc-30b2-aac6-596cb65a22e3": [
-        "vehicle facing away from the ego vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "parked vehicle",
-        "vehicle facing toward parked vehicles",
-        "ego vehicle driving while it is cloudy",
-        "vehicle at a stop sign",
-        "vehicle making a right turn",
-        "pedestrians over 30 meters away",
+    "22052525-4f85-3fe8-9d7d-000a9fffce36": [
+        "ego vehicle in an active school zone",
         "vehicle being overtaken on the left",
-        "vehicles being passed by a motorcycle on either side"
+        "ego vehicle reversing out of an intersection",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle crossing path of another vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "vehicle two vehicles ahead is at a stop sign",
+        "vehicle accelerating more than two meters per second",
+        "vehicle two cars ahead is changing lanes"
     ],
-    "7e4d67b3-c3cc-3288-afe5-043602ea3c70": [
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian facing toward ego vehicle",
-        "ego vehicle merging between two regular vehicles",
-        "parked vehicle",
-        "vehicle near construction barrel",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian between moving vehicles on both sides",
-        "stationary construction barrel",
-        "vehicle near multiple bollards",
-        "vehicle being tailgated while approaching stopped traffic"
+    "b8489c02-60d0-3f44-a3b4-9de62830d666": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "motorcycle between two vehicles",
+        "bicycle following closely behind a vehicle",
+        "vehicle cutting across lanes in front of ego vehicle and merging between two other vehicles",
+        "motorcyclist",
+        "vehicle two vehicles ahead is turning",
+        "vehicle making a u-turn crossing in front of ego vehicle",
+        "vehicles being passed by a motorcycle on either side",
+        "left lane change while there is a vehicle to the left",
+        "motorcycle between stopped vehicles"
     ],
-    "fbee355f-8878-31fa-8ac8-b9a45a3f130a": [
-        "bicycle facing toward a vehicle",
-        "bicycle and vehicle traveling in bike lane",
-        "pedestrian walking past right side of vehicle",
-        "vehicle stopped at a stop sign",
-        "ego vehicle near bollard",
-        "bicycle facing toward moving traffic",
-        "vehicle within 5 meters of a bicycle",
-        "moving bicycle directly to the left of the ego vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle two cars ahead is braking"
+    "d5d6f11c-3026-3e0e-9d67-c111233e22de": [
+        "bicycle near a bus",
+        "motorcycle between stopped vehicles",
+        "ego vehicle two cars ahead of another vehicle",
+        "city bus",
+        "vehicle poking out past stop sign at intersection",
+        "motorcycle between two vehicles",
+        "pedestrian walking alongside stopped bus",
+        "ego vehicle in traffic blocking exit from side street",
+        "ego vehicle traveling in the shadow of a building",
+        "bicyclist on intersection"
     ],
-    "ded5ef6e-46ea-3a66-9180-18a6fa0a2db4": [
-        "vehicle sharing a lane with another vehicle",
+    "d3ca0450-2167-38fb-b34b-449741cb38f3": [
+        "ego vehicle driving during rain",
+        "ego vehicle near construction cone",
+        "vehicles on all sides of a four-way stop",
+        "construction cone indicating damage to road",
+        "pedestrian to the back-right of the ego vehicle",
+        "regular vehicles that are stopped or nearly stopped",
         "ego vehicle changing lanes to the left",
-        "vehicle following another vehicle too closely",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "ego vehicle driving during snow",
-        "vehicle getting passed from the right",
-        "vehicle facing the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrian turning and watching the ego vehicle"
+        "stopped car",
+        "ego vehicle driving during daylight",
+        "car turning right"
     ],
-    "c85a88a8-c916-30a7-923c-0c66bd3ebbd3": [
+    "b6e967f6-92bc-3bf5-99c9-1b0c4649fd67": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle accelerating more than two meters per second",
+        "motorcyclist braking hard",
+        "vehicle traveling through a parking lot",
         "vehicle near multiple bollards",
-        "vehicle navigating near multiple bicycles",
-        "vehicle changing lanes while in bike lane",
+        "vehicle stopped at construction barrel",
+        "construction vehicle working on the road",
+        "vehicle getting passed from the right",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "passenger vehicle turning left at intersection"
+    ],
+    "a91d4c7b-bf55-3a0e-9eba-1a43577bcca8": [
+        "vehicle poking out past stop sign at intersection",
+        "pedestrian walking past right side of vehicle",
         "vehicle changing lanes through bike lane",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle crossing path of another vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian on intersection not using a crosswalk",
-        "bicycle near traffic cone",
-        "lane splitting motorcycle"
+        "vehicle changing lanes while in bike lane",
+        "box truck with multiple construction cones to its right",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle merging between two regular vehicles",
+        "ego vehicle with vehicles on both sides",
+        "stop sign at merge (not intersection) into main road",
+        "ego vehicle changing lanes to the right with a vehicle ahead"
     ],
-    "78f7cb5c-9d51-34f0-b356-9b3d83263c75": [
+    "7039e410-b5ab-35aa-96bc-2c4b89d3c5e3": [
+        "vehicle with a bicycle to its right",
+        "vehicle in close proximity to bicycle",
+        "box trucks within 10 meters of an intersection",
+        "vehicle hard braking with another vehicle ahead",
+        "regular vehicles that are stopped or nearly stopped",
+        "vehicle braking near pedestrian crossing",
+        "car with a stroller to its left",
+        "vehicle braking at pedestrian crossing",
+        "vehicle cutting across lanes in front of ego vehicle to make a turn",
+        "pedestrian under construction protection canopy"
+    ],
+    "52071780-5758-3ed4-8835-0d64ecdc5575": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "pedestrian to the back-right of the ego vehicle",
+        "group of three people",
+        "vehicle being overtaken on the right",
+        "vehicle with animal in front",
         "vehicle approaching stopped vehicle at intersection",
-        "unattended dog",
-        "multiple pedestrians crossing ahead",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "pedestrian walking with dog on sidewalk",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle merging between two regular vehicles",
-        "ego vehicle approaching crossing pedestrians",
-        "pedestrian crossing between bollards",
-        "vehicle two vehicles ahead is braking"
+        "vehicle in the process of parking",
+        "ego vehicle approaching cyclist in same lane",
+        "people standing at a bus stop",
+        "group of pedestrians ahead of the ego vehicle"
     ],
-    "0b86f508-5df9-4a46-bc59-5b9536dbde9f": [
-        "vehicle changing lanes",
-        "vehicles being passed by a motorcycle on either side",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle two cars ahead is braking",
-        "bicycle facing toward moving traffic",
+    "472a240a-10cd-39cd-8681-558f7c7cf868": [
+        "vehicle approaching stopped vehicle at intersection",
         "bus in bus lane",
-        "ego vehicle near construction cone",
-        "bicycle facing toward a vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "vehicle with multiple construction cones on the left side"
+        "vehicle blocking entrance to an alley",
+        "vehicle stopped at a stop sign",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle braking heavily",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "group of at least 3 moving bicyclists within 5 meters of each other",
+        "ego vehicle nudging past stopped car in driving lane",
+        "vehicle facing and accelerating toward pedestrian on road"
     ],
-    "a91d4c7b-bf55-3a0e-9eba-1a43577bcca8": [
-        "box truck with multiple construction cones to its right",
+    "e72ef05c-8b94-3885-a34f-fff3b2b954b4": [
+        "vehicle running a red light across intersection in front of ego vehicle",
+        "pedestrian facing toward ego vehicle",
+        "passenger vehicle turning left at intersection",
+        "vehicle changing lanes while on an intersection",
+        "parked box trucks",
         "box truck near at least 3 construction cones",
-        "ego vehicle two cars ahead of another vehicle",
-        "jaywalking pedestrian",
-        "ego vehicle merging between two regular vehicles",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle changing lanes while in bike lane",
-        "box trucks within 10 meters of an intersection",
-        "passenger vehicle turning right",
-        "vehicle facing toward a pedestrian at a crosswalk"
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "group of people",
+        "ego vehicle with vehicles on both sides",
+        "vehicle making an unprotected left turn during green light"
     ],
-    "bf360aeb-1bbd-3c1e-b143-09cf83e4f2e4": [
-        "regular vehicle turning right",
-        "dog on roadway",
-        "pedestrian walking with dog on sidewalk",
+    "a33a44fb-6008-3dc2-b7c5-2d27b70741e8": [
+        "ego vehicle driving while it is cloudy",
+        "vehicle accelerating on intersection",
+        "ego vehicle passing vehicles in a slower lane",
         "dog near pedestrian",
-        "the vehicle two cars behind the ego vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "dog near an intersection",
         "dog",
-        "bicycle traveling with vehicle traffic",
-        "bicycle crossing vehicle path at intersection"
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle flashing lights indicating to ego vehicle it is safe to turn",
+        "ego vehicle near articulated bus",
+        "vehicle accelerating more than two meters per second"
     ],
-    "3de5b5d6-68c4-3c95-84ed-be7c83d829f8": [
-        "motorcycle between two vehicles",
-        "motorcyclist",
-        "vehicle stopped at a stop sign",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle turning right at stop sign",
-        "vehicles being passed by a motorcycle on either side",
-        "lane splitting motorcycle",
+    "7dbc2eac-5871-3480-b322-246e03d954d2": [
+        "vehicle accelerating towards pedestrian crossing",
+        "box truck in the same lane as a school bus",
+        "passenger vehicle turning right",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "ego vehicle driving at dusk or dawn",
+        "car turning right",
         "active vehicle at stop sign",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle braking at pedestrian crossing"
+        "vehicles on all sides of a four-way stop",
+        "stop sign at merge (not intersection) into main road",
+        "accelerating passenger vehicle"
     ],
-    "ecbe6def-7560-352c-8822-b2b92613e1e4": [
-        "pedestrian near bollard",
-        "ego vehicle near construction cone",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "pedestrian near construction cone",
-        "vehicle sharing a lane with another vehicle",
+    "dfc32963-1524-34f4-9f5e-0292f0f223ae": [
+        "the vehicle two cars behind the ego vehicle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "pedestrians facing each other at close range, possibly conversing",
+        "group of people",
+        "vehicle accelerating more than two meters per second",
+        "ego vehicle in traffic blocking exit from side street",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle in adjacent lane encroaching on lane of ego vehicle without intention to switch lanes"
+    ],
+    "5589de60-1727-3e3f-9423-33437fc5da4b": [
+        "vehicle two cars ahead is being crossed by a pedestrian",
         "vehicle two vehicles ahead is changing lanes",
-        "vehicle being overtaken while approaching another vehicle",
+        "vehicle changing lanes through bike lane",
+        "stop sign behind a pedestrian",
+        "truck following ego vehicle on a cloud day",
+        "bus across the intersection from the ego vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "multiple pedestrians crossing ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "car driving in bus lane"
+    ],
+    "cf5aaa11-4f92-3377-a7a2-861f305023eb": [
+        "vehicle changing lanes while in bike lane",
+        "pedestrian waiting for ego vehicle to pass before crossing the street",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "pedestrian turning and watching the ego vehicle",
+        "ego vehicle traveling through a yellow light",
         "vehicle facing and heading toward pedestrian group",
-        "pedestrian approaching a parked vehicle"
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian crossing at bollard",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle following another vehicle too closely"
     ],
-    "95bf6003-7068-3a78-a0c0-9e470a06e60f": [
-        "bicycle in same lane as a vehicle",
-        "ego vehicle driving during rain",
-        "bicycle sharing lane as a regular vehicle",
-        "bicyclist within 3 meters on either side",
-        "bicycle traveling with vehicle traffic",
-        "bicycle traveling alongside parked vehicles",
-        "pedestrian crossing ahead of ego vehicle",
-        "bicycle in vehicle lane with vehicle",
-        "accelerating passenger vehicle",
-        "bicycle behind a bus"
+    "cae56e40-8470-3c9c-af75-6e444189488f": [
+        "pedestrian on the median",
+        "passenger vehicle turning right",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "truck with an object extending far outside of its bed",
+        "group of pedestrians ahead of the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle moving at crawling speed",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian to the back-right of the ego vehicle"
     ],
-    "dafe14f5-825c-4e7a-9009-6dfdfdd5b030": [
-        "ego vehicle near construction barrel",
+    "0b86f508-5df9-4a46-bc59-5b9536dbde9f": [
+        "bicycle and vehicle traveling in bike lane",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "construction workers walking across the road",
+        "ego vehicle with box truck ahead and motorcycle behind",
+        "bus in bus lane",
+        "ego vehicle near construction cone",
         "bicycle facing toward moving traffic",
-        "bicycle traveling with vehicle traffic",
-        "bicycle near traffic cone",
-        "bicyclist riding in vehicle lane",
+        "construction signs indicating road is closed",
         "bicycle facing toward a vehicle",
-        "pedestrian facing toward the bus",
-        "bicycle traveling against traffic",
-        "regular vehicles that are stopped or nearly stopped",
-        "ego vehicle driving during daylight"
+        "vehicle two cars ahead is braking"
     ],
-    "b6e967f6-92bc-3bf5-99c9-1b0c4649fd67": [
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "regular vehicle turning right",
-        "vehicle accelerating on intersection",
-        "vehicle accelerating more than two meters per second",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+    "a1589ae2-2678-310e-91cc-c4b512cd7fa5": [
+        "ego vehicle driving on a clear day",
+        "car turning right",
+        "vehicle turning right at stop sign",
+        "vehicle turning at intersection with nearby pedestrians",
+        "parked vehicle",
+        "passenger vehicle turning right",
+        "vehicle reversing to parallel park",
+        "vehicle parked perpendicular to the street",
+        "dog",
+        "any vehicle in front of stop sign"
+    ],
+    "36aec72e-5086-376c-b109-295b128e77e1": [
+        "white bollards surrounded by snow",
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
         "the vehicle two cars behind the ego vehicle",
-        "jaywalking pedestrian",
-        "bicycle being overtaken",
-        "passenger vehicle turning left at intersection"
+        "vehicle being overtaken on the left",
+        "vehicle at intersection facing another vehicle",
+        "vehicle getting passed from the right",
+        "semi cab without a trailer",
+        "vehicle being overtaken on the right",
+        "pedestrian near bollard"
     ],
-    "2ff4f798-78d9-3384-87e9-61928aa4cb6d": [
-        "any vehicle in front of stop sign",
-        "construction item on road",
-        "vehicle maneuvering between construction barriers",
-        "vehicle turning right near construction zone",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "ego vehicle near construction barrel",
+    "3de5b5d6-68c4-3c95-84ed-be7c83d829f8": [
+        "vehicle turning right at stop sign",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicles being passed by a motorcycle on either side",
+        "truck without trailer",
+        "box truck with multiple construction cones to its right",
+        "lane splitting motorcycle",
+        "vehicle at a stop sign",
+        "person on a rideable lawnmower",
         "vehicle stopped at a stop sign",
-        "stationary construction barrel",
-        "ego vehicle passing parked motorcycle",
-        "vehicle within 5 meters of a bicycle"
+        "moving bicycle directly to the left of the ego vehicle"
     ],
-    "214e388e-cbd7-3dde-a204-d2ec42298808": [
-        "pedestrian walking alongside stopped bus",
-        "bicycle traveling with vehicle traffic",
-        "ego vehicle changing lanes to the left",
-        "bicyclist on intersection",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle near articulated bus",
-        "pedestrian crossing between bollards",
-        "city bus",
-        "bus in bus lane",
-        "stopped vehicles at intersection being crossed by pedestrians"
+    "02a00399-3857-444e-8db3-a8f58489c394": [
+        "ego vehicle driving on a clear day",
+        "vehicle at intersection facing another vehicle",
+        "Ego vehicle reflected in the windows of a nearby building",
+        "vehicle facing toward parked vehicles",
+        "active vehicle at stop sign",
+        "vehicle making a right turn",
+        "changing lanes in traffic",
+        "bicycle traveling alongside parked vehicles",
+        "regular vehicle turning right",
+        "vehicle sharing a lane with another vehicle"
     ],
-    "e2e921fe-e489-3656-a0a2-5e17bd399ddf": [
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "multiple buses within 50 meters ahead",
-        "school bus on intersection",
-        "box truck in the same lane as a school bus",
-        "vehicle two vehicles ahead is changing lanes",
-        "bus with another bus in its lane",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle passing school bus at stop",
-        "box truck near at least 3 construction cones"
+    "58fed0d4-97d5-469b-89a4-4394838e10c7": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "construction vehicle working on the road",
+        "vehicle sharing a lane with another vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "person on a ladder",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle facing toward parked vehicles",
+        "stopped car"
     ],
-    "c8ec7be0-92aa-3222-946e-fbcf398c841e": [
-        "pedestrian crossing between bollards",
-        "vehicle accelerating while changing lanes",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "pedestrian facing toward the bus",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrian walking alongside stopped bus",
-        "group of three people",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "bicycle near a bus"
+    "ff0dbfc5-8a7b-3a6e-8936-e5e812e45408": [
+        "pedestrians using designated crossing",
+        "vehicle braking heavily",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "child crossing street holding hands with their parent",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "ego vehicle navigating intersection with construction on all four sides",
+        "vehicle being crossed by a pedestrian",
+        "pedestrian on intersection not using a crosswalk",
+        "vehicle surrounded by bicycles on all sides"
     ],
-    "96dd6923-994c-3afe-9830-b15bdfd60f64": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "car turning right",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "oncoming vehicle changing lanes",
-        "ego vehicle with vehicles on both sides",
-        "truck on intersection",
-        "ego vehicle driving while it is cloudy",
+    "7a2c222d-addc-30b2-aac6-596cb65a22e3": [
         "accelerating passenger vehicle",
-        "pedestrian to the left of a truck",
-        "bus with at least 3 pedestrians within 5 meters"
+        "vehicle making a right turn",
+        "vehicle moving at crawling speed",
+        "vehicle at a stop sign",
+        "cement mixer on the side of the road",
+        "semi cab without a trailer",
+        "any vehicle in front of stop sign",
+        "ego vehicle driving during daylight",
+        "vehicle two vehicles ahead is changing lanes",
+        "a group of people"
     ],
     "6f128f23-ee40-3ea9-8c50-c9cdb9d3e8b6": [
+        "vehicle changing lanes to the right",
+        "ego vehicle changing lanes to the left",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "food truck set up in vehicle lane",
         "vehicle changing lanes while in bike lane",
-        "group of three people",
-        "vehicle being crossed by a pedestrian",
-        "pedestrian facing toward the bus",
-        "oncoming vehicle changing lanes",
-        "regular vehicle turning right",
-        "passenger vehicle turning right",
         "vehicle changing lanes through bike lane",
-        "motorcycle between stopped vehicles",
-        "unattended dog"
-    ],
-    "e8c9fd64-fdd2-422d-a2a2-6f47500d1d12": [
-        "accelerating vehicle changing lanes to the right",
-        "motorcycle between stopped vehicles",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "motorcycle between two vehicles",
-        "group of pedestrians ahead of the ego vehicle",
         "group of three people",
-        "a group of people",
-        "motorcycle in bike lane",
-        "motorcycle near construction cone"
+        "vehicle in the process of parking",
+        "group of pedestrians ahead of the ego vehicle",
+        "vehicle braking at pedestrian crossing"
     ],
-    "c222c78d-b574-4b9d-82e1-96a4f3f8bb27": [
-        "two cars back from the ego vehicle",
-        "stationary object",
-        "vehicle at a stop sign",
-        "ego vehicle driving during daylight",
+    "a7636fca-4d9e-3052-bef2-af0ce5d1df74": [
+        "box trucks within 10 meters of an intersection",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle turning left",
+        "forklift unloading vehicle",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "ego vehicle driving during snow",
+        "vehicle two vehicles ahead is turning",
+        "vehicle to the back right of the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle parked on the curb"
+    ],
+    "20bcd747-ef60-391a-9f4a-ae99f049c260": [
+        "truck sharing a lane with another truck",
+        "two motorcycles at a stop sign",
+        "motorcycle near stop sign",
+        "vehicle near multiple bollards",
+        "multiple motorcycles ahead of the ego vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "ego vehicle stopping to let a scooter use a crosswalk",
+        "vehicles being passed by a motorcycle on either side",
+        "motorcycle at stop sign"
+    ],
+    "76916359-96f4-3274-81fe-bb145d497c11": [
+        "ego vehicle traveling in the blind spot of another vehicle for over ten seconds",
+        "ego vehicle slipping into left turn lane",
+        "wheeled rider crossing in front of vehicle at stop sign",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "stopped car",
+        "vehicle accelerating while changing lanes",
+        "pedestrian walking with dog on sidewalk",
+        "school bus at pedestrian crossing",
+        "vehicle two vehicles ahead is braking",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
+    ],
+    "adf9a841-e0db-30ab-b5b3-bf0b61658e1e": [
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle nearly collides with side of ego vehicle at intersection",
+        "vehicle with multiple pedestrians to the left",
+        "semi with trailer making left turn from the rightmost lane",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "car turning right",
+        "vehicle navigating near multiple bicycles",
+        "accelerating passenger vehicle",
+        "vehicle two vehicles ahead is braking"
+    ],
+    "e13c06cb-cd01-380e-946f-6d92ac1af49d": [
+        "car following closely behind bicyclist",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "people exiting a vehicle from both sides at once",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
         "semi truck within 30 meters ahead of ego vehicle",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrian facing away from the ego vehicle",
         "truck without trailer",
-        "turning left",
-        "the vehicle two cars in front of the ego vehicle",
-        "box truck changing lanes to the right",
-        "box trucks within 10 meters of an intersection"
+        "stop sign behind a pedestrian",
+        "parked cars blocking in other parked cars"
     ],
-    "bbd19ca1-805a-3c22-8df3-cd7501aa06f3": [
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "bicycle facing toward moving traffic",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "pedestrians using designated crossing",
-        "pedestrian to the back-right of the ego vehicle",
-        "two cars back from the ego vehicle",
-        "bicycle traveling alongside construction indicators",
-        "bicyclist riding in vehicle lane"
+    "44adf4c4-6064-362f-94d3-323ed42cfda9": [
+        "ego vehicle pulled onto intersection to make unprotected left turn",
+        "ego vehicle reversing out of an intersection",
+        "vehicle facing and heading toward pedestrian group",
+        "bicycle in vehicle lane with vehicle",
+        "people standing at a bus stop",
+        "vehicle approaching stopped vehicle at intersection",
+        "vehicle in close proximity to bicycle",
+        "pedestrian crossing between bollards",
+        "vehicle making a right turn",
+        "pedestrian walking alongside bollard"
     ],
-    "d46ff5df-95e8-32da-a0d7-87f7b976a959": [
-        "ego vehicle driving during snow",
+    "858d739b-a0ba-35aa-bafc-4f7988bcad17": [
+        "ego vehicle being crossed by a jaywalking pedestrian while being followed by another car",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "bicycle traveling alongside parked vehicles",
+        "vehicle with multiple bicycles ahead",
+        "passenger vehicle near stroller in road",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle making a u-turn crossing in front of ego vehicle",
+        "dog near pedestrian",
+        "dog",
+        "ego vehicle approaching crossing pedestrians"
+    ],
+    "5c0584a3-52a6-3029-b6ff-ca45a19d8aa6": [
+        "regular vehicle turning right",
         "vehicle being overtaken while approaching another vehicle",
-        "ego vehicle approaching stopped delivery truck",
         "vehicle changing lanes while on an intersection",
-        "vehicle facing toward a pedestrian at a crosswalk",
+        "truck changing lanes to the right",
+        "bicycle following closely behind a vehicle",
+        "pedestrian interacting with vehicle in front of ego vehicle",
+        "person with shopping cart interrupting ego vehicle's turn",
+        "vehicle being passed on the left by another vehicle",
+        "pedestrian with wheelchair at crosswalk",
+        "pedestrian facing toward the bus"
+    ],
+    "27be7d34-ecb4-377b-8477-ccfd7cf4d0bc": [
+        "the vehicle two cars behind the ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "person",
+        "vehicle being tailgated while approaching stopped traffic",
+        "ego vehicle driving on a clear day",
+        "vehicle at a stop sign",
+        "construction item on road",
         "vehicle crossing path of another vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing",
-        "bus in the same lane as a truck"
+        "vehicles neighboring a valid space to parallel park",
+        "ego vehicle in middle lane getting passed on both sides"
     ],
-    "eec284b2-840a-3c75-aa42-04d2e309bbe1": [
-        "bicycle traveling with vehicle traffic",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "bicycle facing toward a vehicle",
-        "bicycle following closely behind a vehicle",
+    "e8c9fd64-fdd2-422d-a2a2-6f47500d1d12": [
+        "a group of people",
+        "vehicle in adjacent lane encroaching on lane of ego vehicle without intention to switch lanes",
+        "accelerating vehicle changing lanes to the right",
+        "motorcycle between two vehicles",
+        "vehicle accelerating more than two meters per second",
+        "vehicle navigating near multiple bicycles",
+        "box truck changing lanes to the left",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "pedestrian walking past right side of vehicle",
+        "vehicle passing stopped truck with pedestrian nearby"
+    ],
+    "9a448a80-0e9a-3bf0-90f3-21750dfef55a": [
+        "vehicle running a red light across intersection in front of ego vehicle",
+        "vehicle braking at pedestrian crossing",
+        "vehicle traveling over 20 meters per second",
+        "ego vehicle nudging past stopped car in driving lane",
+        "vehicle braking near pedestrian crossing",
+        "regular vehicle turning right",
+        "regular vehicles that are stopped or nearly stopped",
         "vehicle within 5 meters of a bicycle",
-        "vehicle sharing a lane with another vehicle",
-        "bicycle facing toward moving traffic",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle being overtaken on the left",
-        "pedestrian on road not facing traffic"
+        "motorcycle near construction cone",
+        "ego vehicle traveling over filled pothole"
     ],
-    "b50c4763-5d1e-37f4-a009-2244aeebabcd": [
-        "vehicle accelerating while changing lanes",
-        "stop sign behind a pedestrian",
-        "vehicle two vehicles ahead is braking",
-        "vehicle turning right at stop sign",
-        "truck on intersection",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+    "42f92807-0c5e-3397-bd45-9d5303b4db2a": [
+        "police car on opposite side of the road",
+        "vehicle traveling over 20 meters per second",
+        "another autonomous vehicle",
+        "pedestrian on intersection not using a crosswalk",
+        "vehicle turning at intersection with nearby pedestrians",
+        "ego vehicle in dense traffic with lane-changing vehicles",
         "vehicle two cars ahead is changing lanes",
-        "pedestrian near stop sign",
+        "making a left lane change while there is a vehicle to the right",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "pedestrian walking alongside bollard"
+    ],
+    "d46ff5df-95e8-32da-a0d7-87f7b976a959": [
         "motorcycle or pedestrian within 5 meters to the right",
-        "ego vehicle approaching stopped truck"
+        "ego vehicle approaching pedestrian at crosswalk",
+        "box truck braking in front of ego vehicle",
+        "pedestrian walking alongside bollard",
+        "left lane change while there is a vehicle to the left",
+        "pedestrian near bollard",
+        "ego vehicle waiting for pedestrians to cross",
+        "truck on intersection",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "pedestrian under construction protection canopy"
     ],
-    "fbd62533-2d32-3c95-8590-7fd81bd68c87": [
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrian on intersection not using a crosswalk",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian turning and watching the ego vehicle",
+    "78da7b7e-8ddf-3c7d-8716-eaa890106dd3": [
+        "two delivery trucks left of the ego vehicle",
+        "ego vehicle driving during rain",
+        "two cars back from the ego vehicle",
+        "truck sharing a lane with another truck",
         "the vehicle two cars in front of the ego vehicle",
-        "group of people",
-        "moving bus to the front-left of the ego vehicle",
         "pedestrians using designated crossing",
-        "car with a stroller to its left",
-        "vehicle turning right next to pedestrian with stroller"
+        "accelerating passenger vehicle",
+        "motorcycle near stop sign",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle stopped in front of stop bar"
     ],
-    "27c03d98-6ac3-38a3-ba5e-102b184d01ef": [
-        "ego vehicle approaching stopped truck",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle driving on a clear day",
-        "vehicle moving at crawling speed",
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle driving during daylight",
-        "vehicle near multiple bollards",
-        "object that hasn't moved",
-        "ego vehicle near pedestrian crossing sign",
-        "pedestrian walking alongside bollard"
+    "f4c94798-4d77-36ab-bdc5-c1194e5e7aff": [
+        "pedestrian using crosswalk during no-crossing symbol",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle two cars ahead is braking",
+        "the active vehicle in front of the vehicle ahead",
+        "pedestrian walking past right side of vehicle",
+        "passenger vehicle swerving left",
+        "passenger vehicle turning left at intersection",
+        "vehicle accelerating while changing lanes",
+        "multiple buses within 50 meters ahead",
+        "ego vehicle traveling in the shadow of a building"
     ],
-    "070bbf42-31d3-3aa9-aca4-c262afc9077d": [
-        "construction item on road",
+    "c8ec7be0-92aa-3222-946e-fbcf398c841e": [
+        "pedestrian facing toward the bus",
+        "vehicle cutting across lanes in front of ego vehicle and merging between two other vehicles",
+        "bus with at least 3 pedestrians within 5 meters",
         "vehicle navigating near multiple bicycles",
-        "the active vehicle in front of the the vehicle ahead",
+        "bus with multiple pedestrians waiting on the right side",
+        "moving wheelchair within 5 meters of an intersection",
+        "truck with traffic cone passing ego vehicle",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle accelerating while changing lanes",
+        "pedestrian walking alongside stopped bus"
+    ],
+    "e50e7698-de3d-355f-aca2-eddd09c09533": [
         "dog near pedestrian",
-        "pedestrian walking with stroller",
-        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "stroller",
-        "turning left",
-        "accelerating wheeled devices"
+        "school bus on intersection",
+        "pedestrian between moving vehicles on both sides",
+        "truck with an object extending far outside of its bed",
+        "bicycle traveling alongside parked vehicles",
+        "stationary construction barrel",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "vehicle blocking entrance to an alley",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrians using designated crossing"
     ],
-    "7606de8d-486c-4916-9cbb-002ee966f834": [
+    "3b3570b4-7b0b-3268-a571-b0889dbf40b6": [
+        "vehicle two vehicles ahead is turning",
+        "dog near an intersection",
+        "vehicle passing truck with pedestrian crossing ahead",
         "vehicle within 5 meters of a bicycle",
-        "bus within 5 meters to either side of ego vehicle",
         "vehicle with a bicycle to its right",
-        "stopped car",
-        "left lane change while there is a vehicle to the left",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "bus changing lanes",
-        "oncoming vehicle changing lanes",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "moving bus to the front-left of the ego vehicle"
-    ],
-    "5c0584a3-52a6-3029-b6ff-ca45a19d8aa6": [
-        "accelerating passenger vehicle",
-        "vehicle two vehicles ahead is turning",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle crossing path of another vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle two vehicles ahead is braking",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle being overtaken on the right",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters"
+        "the active vehicle in front of the vehicle ahead",
+        "making an unprotected left turn while there is a vehicle in the opposite left turn lane",
+        "vehicle with multiple bicycles ahead",
+        "police car on opposite side of the road",
+        "vehicle to the back right of the ego vehicle"
     ],
-    "2e3f2ae7-9ab9-3aef-a3ce-a0a97a0cb1ab": [
-        "ego vehicle near bollard",
-        "pedestrian crossing between bollards",
+    "c85a88a8-c916-30a7-923c-0c66bd3ebbd3": [
+        "vehicle with multiple construction cones on the left side",
+        "ego vehicle traveling through a yellow light",
+        "vehicle navigating near multiple bicycles",
+        "bicycle sharing lane as a regular vehicle",
+        "a group of people",
         "moving bicycle directly to the left of the ego vehicle",
-        "bicycle on intersection",
-        "bicycle and vehicle traveling in bike lane",
+        "pedestrian crossing between bollards",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "pedestrian interacting with vehicle in front of ego vehicle",
+        "ego vehicle with parked bicycles ahead"
+    ],
+    "7e4d67b3-c3cc-3288-afe5-043602ea3c70": [
+        "ego vehicle changing lanes to the left",
+        "motorcyclist",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "road work crew at a busy intersection",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle maneuvering between construction barriers",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle being crossed by a pedestrian",
+        "vehicles being passed by a motorcycle on either side",
+        "people exiting a vehicle from both sides at once"
+    ],
+    "280269f9-6111-311d-b351-ce9f63f88c81": [
+        "ego vehicle approaching stopped truck",
         "pedestrian crossing at bollard",
-        "pedestrians over 30 meters away",
-        "vehicle surrounded by bicycles on all sides",
-        "bicycle traveling against traffic",
-        "bicycle facing toward moving traffic"
+        "stopped delivery vehicle blocking ego vehicle in driving lane",
+        "pedestrian to the left of a truck",
+        "pedestrian walking alongside stopped bus",
+        "vehicle turning right with pedestrian waiting",
+        "ego vehicle going into oncoming lane to pass stopped vehicle",
+        "stationary construction barrel",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "box truck changing lanes to the left"
     ],
-    "27be7d34-ecb4-377b-8477-ccfd7cf4d0bc": [
+    "47286726-5dd4-4e26-bd2d-5324f429e445": [
+        "motorcycle overtaking a vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle facing and heading toward pedestrian group",
         "vehicle to the back right of the ego vehicle",
-        "object that hasn't moved",
-        "parked vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle driving during daylight",
-        "passenger vehicle turning left at intersection",
+        "motorcyclist in front of ego vehicle in left turn lane",
+        "motorcycle merging into lane of another motorcycle",
+        "pedestrian walking alongside bollard",
+        "vehicle approaching stopped vehicle at intersection",
+        "bicycle facing toward moving traffic",
+        "vehicles being passed by a motorcycle on either side"
+    ],
+    "2ff4f798-78d9-3384-87e9-61928aa4cb6d": [
+        "construction item on road",
+        "ego vehicle near construction cone",
+        "construction cones placed to block turn onto intersection",
+        "vehicle turning right near construction zone",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle stopped at construction barrel",
+        "vehicle making a u-turn",
+        "vehicle maneuvering between construction barriers",
+        "vehicle turning right with pedestrian in front",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
+    ],
+    "182ba3f7-b89a-36cc-ae40-32a341b0d3e9": [
         "pedestrians over 30 meters away",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian crossing in front of cyclist near intersection"
+        "person",
+        "motorcycle overtaking a vehicle",
+        "ego vehicle in an active school zone",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "moving bus to the front-left of the ego vehicle",
+        "pedestrians using designated crossing",
+        "stop sign attached toward the back of a school bus",
+        "school bus on intersection",
+        "ego vehicle driving during daylight"
     ],
-    "d3ca0450-2167-38fb-b34b-449741cb38f3": [
-        "vehicle at a stop sign",
-        "stationary construction barrel",
-        "ego vehicle changing lanes to the left",
-        "vehicle following another vehicle too closely",
-        "stationary object",
-        "turning left",
+    "72cf3ca1-1a9e-3254-bca0-29c62521e454": [
+        "white bollards surrounded by snow",
+        "vehicle near multiple bollards",
+        "ego vehicle driving during snow",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "dog on roadway",
+        "vehicle sharing a lane with another vehicle",
         "vehicle moving at crawling speed",
-        "ego vehicle driving during rain",
-        "vehicle near construction barrel",
-        "vehicle maneuvering between construction barriers"
-    ],
-    "d5fa4d54-74ba-369c-a758-636441ad7f07": [
-        "car following closely behind bicyclist",
-        "motorcycle between two vehicles",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "ego vehicle with parked bicycles ahead",
-        "group of three people",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "motorcycle between stopped vehicles",
-        "ego vehicle changing lanes near bicycle while approaching stop sign",
-        "truck on intersection"
+        "semi with trailer making left turn from the rightmost lane",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle two cars ahead is braking"
     ],
-    "f6cc0ebf-fc6a-3bf2-8bcb-76d8c43f194e": [
-        "vehicle passing near person in wheelchair",
+    "52971a8a-ed62-3bfd-bcd4-ca3308b594e0": [
+        "vehicle changing lanes to the right",
+        "vehicle getting passed from the right",
+        "ego vehicle stopping to let another vehicle merge into their lane",
+        "vehicle making a right turn",
+        "vehicle accelerating on intersection",
+        "multiple motorcycles ahead of the ego vehicle",
         "car driving in bus lane",
+        "vehicle pulling out of parking lot through a lane of traffic",
+        "vehicle being overtaken on the left",
+        "vehicle facing and heading toward pedestrian group"
+    ],
+    "02678d04-cc9f-3148-9f95-1ba66347dff9": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "bicyclist within 3 meters on either side",
+        "vehicle facing toward parked vehicles",
+        "vehicle accelerating towards pedestrian crossing",
+        "Ego vehicle on bridge",
+        "pedestrians facing each other at close range, possibly conversing",
+        "ego vehicle two cars ahead of another vehicle",
+        "bicycle traveling against traffic",
+        "Bicyclist cutting across road to enter a sidewalk.",
+        "box truck changing lanes ahead"
+    ],
+    "f2576c8a-da9b-450e-88cf-a70af1b0eadf": [
         "pedestrian near construction cone",
-        "moving wheelchair within 5 meters of an intersection",
-        "pedestrian walking with dog on sidewalk",
-        "vehicle accelerating while changing lanes",
+        "ego vehicle routed onto opposite side of the road due to construction",
+        "stationary construction barrel",
+        "vehicle turning left with a bicycle in front of it",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle maneuvering between construction barriers",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle with multiple construction cones on the left side",
+        "box truck near at least 3 construction cones",
+        "construction workers walking across the road"
+    ],
+    "0c3bad78-9f1e-395d-a376-2eb7499229fd": [
+        "vehicle within 5 meters of a bicycle",
+        "vehicle stopping to let another vehicle merge into their lane",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle being crossed by a pedestrian",
         "accelerating vehicle changing lanes to the right",
-        "moving bus to the front-left of the ego vehicle",
-        "ego vehicle approaching intersection with crossing dog",
-        "dog near an intersection"
+        "vehicle in close proximity to bicycle",
+        "vehicle passing ego vehicle on one way road",
+        "wheeled rider crossing in front of vehicle at stop sign",
+        "pedestrian walking down the center of a street",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "335aabef-269e-3211-a99d-2c3a3a8f8475": [
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle braking at pedestrian crossing",
-        "car driving in bus lane",
-        "motorcyclist braking hard",
-        "motorcycle in the same lane as a box truck",
-        "vehicle braking near pedestrian crossing",
-        "pedestrian walking with stroller",
-        "stop sign behind a pedestrian",
-        "car following closely behind bicyclist"
+    "0aa4e8f5-2f9a-39a1-8f80-c2fdde4405a2": [
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "two cars back from the ego vehicle",
+        "ego vehicle making two right turns within 15 seconds",
+        "pedestrian near stop sign",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "pedestrians over 30 meters away",
+        "waiting until it is safe to turn onto the road",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "the vehicle two cars in front of the ego vehicle"
     ],
-    "92b900b1-ac4a-3d41-b118-e42c66382c91": [
-        "ego vehicle approaching stopped truck",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "stopped car",
-        "truck without trailer",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian to the back-right of the ego vehicle",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "parked box trucks",
-        "passenger vehicle swerving left",
-        "truck swerving near construction cones"
+    "0b5142c1-420b-3fea-9e98-b87327ae22c6": [
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle merging between two regular vehicles",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle waiting for a stopped school bus",
+        "vehicle accelerating while changing lanes",
+        "changing lanes in traffic",
+        "dog near pedestrian",
+        "bicycle traveling against traffic",
+        "making a left lane change while there is a vehicle to the right",
+        "objects getting closer to the ego vehicle"
+    ],
+    "fbd62533-2d32-3c95-8590-7fd81bd68c87": [
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "accelerating passenger vehicle",
+        "vehicle ahead of ego vehicle has its reverse lights on",
+        "pedestrian facing toward the bus",
+        "pedestrian on intersection not using a crosswalk",
+        "pedestrian near construction cone",
+        "vehicle proceeding through a green light without turning",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrian walking past right side of vehicle",
+        "pedestrians using designated crossing"
     ],
-    "a060c4c1-b9fc-39c1-9d30-d93a124c9066": [
-        "stroller",
-        "ego vehicle near bollard",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "pedestrian crossing at bollard",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle with multiple bicycles ahead",
+    "cd22abca-9150-3279-87a4-cb00ba517372": [
+        "pedestrian to the back-right of the ego vehicle",
         "multiple pedestrians crossing ahead",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle turning while pedestrian crosses with stroller",
-        "bus making right turn"
+        "pedestrian between moving vehicles on both sides",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "pedestrian near bollard",
+        "vehicle making unprotected left turn as ego vehicle is oncoming",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian walking alongside bollard",
+        "vehicle pulling a trailer"
     ],
-    "a7636fca-4d9e-3052-bef2-af0ce5d1df74": [
-        "left lane change while there is a vehicle to the left",
+    "20d47f81-46e8-3adf-a0ca-564fbb5c599d": [
         "passenger vehicle swerving left",
-        "vehicle accelerating on intersection",
-        "ego vehicle two cars ahead of another vehicle",
+        "vehicle turning right with pedestrian in front",
+        "blue car in front of green car",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "box truck braking in front of ego vehicle",
         "truck without trailer",
-        "box trucks within 10 meters of an intersection",
-        "regular vehicle turning right",
-        "parked box trucks",
-        "pedestrian walking between trailers",
-        "bus within 5 meters to either side of ego vehicle"
-    ],
-    "a33a44fb-6008-3dc2-b7c5-2d27b70741e8": [
-        "dog near pedestrian",
-        "passenger vehicle turning left at intersection",
-        "ego vehicle driving while it is cloudy",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle accelerating more than two meters per second",
-        "dog near an intersection",
-        "dog",
         "vehicle accelerating on intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "forklift unloading vehicle"
+    ],
+    "f6cc0ebf-fc6a-3bf2-8bcb-76d8c43f194e": [
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle sitting on the median",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle parked perpendicular to the street",
+        "vehicle passing near person in wheelchair",
+        "box truck with multiple construction cones to its right",
+        "wheelchair user at pedestrian crossing",
+        "vehicle accelerating while changing lanes",
         "pedestrian walking with dog on sidewalk",
-        "dog crossing in front of vehicle"
+        "moving wheelchair within 5 meters of an intersection"
     ],
-    "44adf4c4-6064-362f-94d3-323ed42cfda9": [
-        "pedestrian walking alongside bollard",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian crossing between bollards",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle crossing path of another vehicle",
-        "vehicle two vehicles ahead is braking",
-        "pedestrian near bollard",
-        "vehicle changing lanes to the right",
-        "vehicle being crossed by a pedestrian",
-        "ego vehicle passing parked bus"
+    "a060c4c1-b9fc-39c1-9d30-d93a124c9066": [
+        "car following closely behind bicyclist",
+        "vehicle navigating a busy town square",
+        "vehicle near construction barrel",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian walking with stroller",
+        "pedestrian with wheelchair at crosswalk",
+        "pedestrian crossing ahead of ego vehicle",
+        "objects getting closer to the ego vehicle",
+        "stroller",
+        "person unloading truck in driving lane"
     ],
-    "29a00842-ead2-3050-b587-c5ef507e4125": [
-        "ego vehicle near construction cone",
-        "vehicle changing lanes",
-        "vehicle being passed on the left by another vehicle",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle changing lanes to the right",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian crossing between bollards",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle facing and accelerating toward pedestrian on road"
+    "d5fa4d54-74ba-369c-a758-636441ad7f07": [
+        "oncoming vehicle changing lanes",
+        "group of three people",
+        "motorcycle between stopped vehicles",
+        "pedestrian to the back-right of the ego vehicle",
+        "group of people crossing at a non-crosswalk near ego vehicle.",
+        "motorcycle between two vehicles",
+        "motorcyclist braking hard",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "car following closely behind bicyclist",
+        "vehicle carrying a bicycle"
     ],
-    "6803104a-bb06-402e-8471-e5af492db0a8": [
-        "vehicle making a right turn",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "making a left lane change while there is a vehicle to the right",
-        "car turning right",
+    "c222c78d-b574-4b9d-82e1-96a4f3f8bb27": [
+        "pedestrian standing at crosswalk with back to road",
         "vehicle with multiple pedestrians to the left",
-        "vehicle facing toward parked vehicles",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle facing and heading toward pedestrian group"
-    ],
-    "3bffdcff-c3a7-38b6-a0f2-64196d130958": [
-        "truck without trailer",
-        "ego vehicle approaching stopped truck",
-        "ego vehicle approaching stopped delivery truck",
-        "passenger vehicle swerving left",
+        "vehicle turning left",
+        "vehicle getting passed from the right",
+        "ego vehicle approaching semi truck with safety triangles out",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
         "semi truck within 30 meters ahead of ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "truck on intersection",
-        "box trucks within 10 meters of an intersection",
-        "pedestrian walking between two stopped vehicles",
-        "pedestrian between moving vehicles on both sides"
-    ],
-    "6aaf5b08-9f84-3a2e-8a32-2e50e5e11a3c": [
-        "car driving in bus lane",
-        "pedestrian crossing between bollards",
-        "bus with at least 3 pedestrians within 5 meters",
-        "group of three people",
-        "oncoming vehicle changing lanes",
-        "bus changing lanes",
-        "bus with another bus in its lane",
-        "ego vehicle driving during rain",
-        "multiple buses within 50 meters ahead",
-        "vehicle two cars ahead is braking"
+        "ego vehicle approaching pedestrian at crosswalk",
+        "active vehicle at stop sign",
+        "ego vehicle two cars ahead of another vehicle"
     ],
-    "0bae3b5e-417d-3b03-abaa-806b433233b8": [
-        "stationary construction barrel",
-        "pedestrian crossing ahead of ego vehicle",
-        "ego vehicle approaching crossing pedestrians",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "multiple pedestrians crossing ahead",
-        "pedestrian near bollard",
-        "vehicle stopped at construction barrel",
-        "pedestrian turning and watching the ego vehicle",
-        "ego vehicle changing lanes to the left"
+    "6803104a-bb06-402e-8471-e5af492db0a8": [
+        "passenger vehicle turning right",
+        "person taking a nap near the street",
+        "bicyclist on intersection",
+        "vehicle changing lanes while on an intersection",
+        "passenger vehicle turning left at intersection",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle at a stop sign",
+        "construction cone indicating damage to road",
+        "vehicle to the back right of the ego vehicle",
+        "pedestrian near stop sign"
     ],
-    "e0ea281b-6956-3605-b720-71b54ec87d25": [
-        "vehicle turning right near construction zone",
-        "vehicle within 5 meters of a bicycle",
-        "any vehicle in front of stop sign",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "group of people",
-        "vehicle with a bicycle to its right",
-        "vehicle with multiple pedestrians to the left",
-        "vehicle turning right at stop sign",
-        "pedestrian walking between construction barriers with approaching vehicle",
-        "vehicle being overtaken while approaching another vehicle"
+    "c865c156-0f26-411c-a16c-be985333f675": [
+        "bicycle traveling against traffic",
+        "ego vehicle traveling in the blind spot of another vehicle for over ten seconds",
+        "bicyclist riding in vehicle lane",
+        "bicycle sharing lane as a regular vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle on intersection",
+        "jaywalking pedestrian",
+        "bicycle traveling with vehicle traffic",
+        "car following closely behind bicyclist",
+        "vehicle pulling out of parking lot through a lane of traffic"
     ],
-    "52971a8a-ed62-3bfd-bcd4-ca3308b594e0": [
-        "passenger vehicle swerving left",
+    "544a8102-0ef5-3044-921e-dc0544370376": [
+        "box truck changing lanes ahead",
         "vehicle changing lanes",
+        "vehicle facing and accelerating toward pedestrian on road",
         "ego vehicle driving at dusk or dawn",
-        "pedestrian between moving vehicles on both sides",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle being passed on the left by another vehicle",
+        "box truck changing lanes to the right",
         "vehicle changing lanes while on an intersection",
-        "vehicle being overtaken on the right",
-        "vehicle turning left while bicycle crosses from right",
-        "vehicle stopped at a stop sign"
+        "lens flare in camera of ego vehicle",
+        "pedestrian walking with stroller",
+        "box truck changing lanes to the left",
+        "truck with trailer making a wide right turn over lane"
     ],
     "5f8f4a26-59b1-3f70-bcab-b5e3e615d3bc": [
-        "vehicle making a right turn",
-        "vehicle at intersection facing another vehicle",
-        "car turning right",
-        "pedestrians facing each other at close range, possibly conversing",
-        "vehicle with multiple pedestrians to the left",
         "moving wheelchair within 5 meters of an intersection",
-        "two cars back from the ego vehicle",
+        "ego vehicle driving while it is cloudy",
         "motorcyclist braking hard",
-        "motorcycle passing between parked vehicles",
-        "vehicle two vehicles ahead is changing lanes"
+        "bicycle near traffic cone",
+        "pedestrian between moving vehicles on both sides",
+        "box truck braking in front of ego vehicle",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle stopped in front of stop bar",
+        "parked car with turned wheels"
     ],
-    "02678d04-cc9f-3148-9f95-1ba66347dff9": [
-        "vehicles within view of another vehicle",
-        "vehicle traveling perpendicular to the ego vehicle",
-        "braking vehicle",
-        "isolated objects",
-        "vehicle passing near person in wheelchair",
-        "bicycle traveling against traffic",
-        "bicyclist within 3 meters on either side",
-        "moving vehicles that are not on the road",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "ego vehicle merging between two regular vehicles"
+    "b87683ae-14c5-321f-8af3-623e7bafc3a7": [
+        "pedestrian facing toward ego vehicle",
+        "pedestrian facing away from the ego vehicle",
+        "box truck in bike lane",
+        "vehicle two vehicles ahead is braking",
+        "pedestrian near construction cone",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle turning left",
+        "box trucks within 10 meters of an intersection",
+        "vehicle making unprotected left turn as ego vehicle is oncoming"
     ],
-    "f1275002-842e-3571-8f7d-05816bc7cf56": [
-        "making a left lane change while there is a vehicle to the right",
-        "pedestrian to the left of a truck",
-        "truck on intersection",
-        "ego vehicle approaching stopped delivery truck",
+    "ecbe6def-7560-352c-8822-b2b92613e1e4": [
+        "pedestrian facing toward ego vehicle",
+        "ego vehicle in driving lane that transitions to parallel parking area",
+        "ego vehicle two cars ahead of another vehicle",
         "pedestrian near construction cone",
-        "dog crossing in front of vehicle",
-        "parked box trucks",
-        "dog on roadway",
-        "pedestrian with multiple dogs",
+        "vehicle at a stop sign",
+        "two cars back from the ego vehicle",
+        "pedestrian near bollard",
+        "pedestrian crossing between bollards",
+        "truck with long trailer making turn at intersection",
+        "passenger vehicle turning left at intersection"
+    ],
+    "f3cd0d0d-8b71-3266-9732-d9f0d5778eb6": [
+        "vehicles neighboring a valid space to parallel park",
+        "pedestrian walking past right side of vehicle",
+        "passenger vehicle turning left at intersection",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "school bus near construction zone",
+        "oncoming vehicle changing lanes",
+        "parked vehicle",
+        "pedestrian near construction cone",
+        "pedestrian facing toward the bus",
+        "stationary construction barrel"
+    ],
+    "91aab547-1912-3b8e-8e7f-df3b202147bf": [
+        "stroller",
+        "person",
+        "ego vehicle traveling down a brick street",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "the vehicle two cars in front of the ego vehicle",
+        "pedestrians over 30 meters away",
+        "pedestrian on the median",
+        "vehicle being passed on the left by another vehicle",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle passing truck with pedestrian crossing ahead"
+    ],
+    "78683234-e6f1-3e4e-af52-6f839254e4c0": [
+        "vehicle moving at crawling speed",
+        "vehicle at intersection facing another vehicle",
+        "vehicle waiting for a stopped school bus",
+        "stopped car",
+        "vehicle two vehicles ahead is braking",
+        "vehicle near multiple bollards",
+        "person crosses crosswalk between a turning and stopped vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle sharing a lane with another vehicle",
+        "moving wheelchair within 5 meters of an intersection"
+    ],
+    "24642607-2a51-384a-90a7-228067956d05": [
+        "approaching bicyclist obstructed from view of the ego vehicle",
+        "a continuous stream of cyclists",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "bicycle sharing lane as a regular vehicle",
+        "wheelchair user at pedestrian crossing",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle passing by parked vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "bicyclist within 3 meters on either side",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle"
+    ],
+    "29a00842-ead2-3050-b587-c5ef507e4125": [
+        "two delivery trucks left of the ego vehicle",
+        "pedestrian crossing between bollards",
+        "person unloading truck in driving lane",
+        "vehicle maneuvering between construction barriers",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "stopped delivery vehicle blocking ego vehicle in driving lane",
+        "ego vehicle changing lanes near construction zone",
+        "vehicle changing lanes to the right",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
         "box truck at stop sign"
     ],
-    "cd22abca-9150-3279-87a4-cb00ba517372": [
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "ego vehicle approaching pedestrian at crosswalk",
+    "04994d08-156c-3018-9717-ba0e29be8153": [
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle in close proximity to bicycle",
         "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian walking alongside bollard",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "car driving in bus lane",
-        "ego vehicle near bollard",
-        "ego vehicle driving while it is cloudy"
-    ],
-    "cf5aaa11-4f92-3377-a7a2-861f305023eb": [
-        "vehicle accelerating while changing lanes",
-        "pedestrian to the back-right of the ego vehicle",
-        "pedestrian walking alongside bollard",
-        "stopped car",
-        "vehicle changing lanes through bike lane",
-        "vehicle changing lanes",
-        "stationary object",
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle near construction barrel",
-        "vehicle following another vehicle too closely"
+        "ego vehicle approaching stopped truck",
+        "vehicle passing ego vehicle on one way road",
+        "two vehicles making a complete stop to avoid colliding with each other at an intersection",
+        "vehicle being crossed by a pedestrian",
+        "vehicle surrounded by bicycles on all sides",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
     ],
-    "adf9a841-e0db-30ab-b5b3-bf0b61658e1e": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "pedestrian facing toward ego vehicle",
-        "vehicle in close proximity to bicycle",
-        "vehicle facing away from the ego vehicle",
-        "the active vehicle in front of the vehicle ahead",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian walking past right side of vehicle",
-        "vehicle navigating near multiple bicycles",
-        "bicycle in same lane as a vehicle",
-        "bicycle on intersection"
+    "185d3943-dd15-397a-8b2e-69cd86628fb7": [
+        "wheeled rider crossing in front of vehicle at stop sign",
+        "vehicle with a bicycle to its right",
+        "vehicle two lanes over approaching from behind",
+        "dog",
+        "vehicle turning right at stop sign",
+        "vehicle with animal in front",
+        "dog near an intersection",
+        "bus with at least 3 pedestrians within 5 meters",
+        "box truck at stop sign",
+        "person on scooter heading toward the ego vehicle"
     ],
-    "1da4a0aa-22ae-3958-856d-05303de1f576": [
-        "school bus on intersection",
-        "truck changing lanes to the right",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "any vehicle in front of stop sign",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "box trucks within 10 meters of an intersection",
-        "school bus at pedestrian crossing",
-        "vehicle two vehicles ahead is at a stop sign",
-        "ego vehicle driving during rain",
-        "ego vehicle with vehicles on both sides"
+    "92b900b1-ac4a-3d41-b118-e42c66382c91": [
+        "ego vehicle approaching stopped truck",
+        "ego vehicle camera experiencing non-environmental degradation",
+        "large truck being towed",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "truck without trailer",
+        "motorcyclist",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "unattended dog",
+        "vehicle changing lanes while on an intersection",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "4e3fedbb-847c-3d5b-8a62-c9ff84550985": [
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle turning right at stop sign",
-        "vehicle with a bicycle to its right",
+    "b50c4763-5d1e-37f4-a009-2244aeebabcd": [
+        "vehicle turning right near construction zone",
+        "pedestrian walking alongside stopped bus",
+        "pedestrian near stop sign",
         "active vehicle at stop sign",
-        "vehicle in close proximity to bicycle",
-        "vehicle near multiple bollards",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle changing lanes but then changing back within a few seconds",
+        "ego vehicle following vehicle being overtaken on right",
+        "motorcycle between stopped vehicles",
+        "person crosses crosswalk between a turning and stopped vehicle",
+        "making a left lane change while there is a vehicle to the right"
+    ],
+    "070bbf42-31d3-3aa9-aca4-c262afc9077d": [
+        "stroller",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle near construction barrel",
+        "vehicle stopped at construction barrel",
+        "pedestrian walking with stroller",
         "ego vehicle with parked bicycles ahead",
-        "any vehicle in front of stop sign",
-        "bicycle and vehicle traveling in bike lane",
-        "vehicle making left turn through ego vehicle's path while it is raining"
+        "child riding a tricycle",
+        "lane splitting motorcycle",
+        "vehicle navigating near multiple bicycles",
+        "ego vehicle slipping into left turn lane"
     ],
-    "9e9bcfb7-601d-3d80-bc12-ef7025174beb": [
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "dog near an intersection",
-        "ego vehicle two cars ahead of another vehicle",
-        "group of people",
-        "ego vehicle approaching stopped delivery truck",
+    "f668074d-d6c6-3ea7-a7b5-aad0a1203b03": [
+        "the active vehicle in front of the vehicle ahead",
+        "ego vehicle coming out from under dark bridge",
+        "vehicle traveling over 20 meters per second",
+        "vehicle traveling in the opposite direction as the ego vehicle",
+        "parked vehicle",
+        "box truck in the same lane as a school bus",
+        "ego vehicle with vehicles on both sides",
+        "vehicle following another vehicle too closely",
+        "Ego vehicle reflected in the windows of a nearby building",
+        "vehicle braking heavily"
+    ],
+    "9bb1f857-8b61-369f-a537-484c1323ae32": [
+        "vehicle making a u-turn",
+        "box truck braking in front of ego vehicle",
+        "ego vehicle near bollard",
         "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle passing near person in wheelchair",
+        "ego vehicle waiting for vehicle in adjacent turn lane to pass them in order to turn",
+        "multiple pedestrians crossing ahead",
+        "city bus",
+        "ego vehicle approaching stopped delivery truck"
+    ],
+    "ded5ef6e-46ea-3a66-9180-18a6fa0a2db4": [
+        "ego vehicle approaching semi truck with safety triangles out",
+        "ego vehicle driving during snow",
+        "pedestrian behind car parked on side of street",
+        "pedestrian walking alongside stopped bus",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "objects getting closer to the ego vehicle",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "moving bus to the front-left of the ego vehicle",
+        "truck without trailer"
+    ],
+    "dafe14f5-825c-4e7a-9009-6dfdfdd5b030": [
+        "ego vehicle with parked bicycles ahead",
+        "bicycle near traffic cone",
+        "bicyclist traveling against traffic on street",
+        "three or more buses at an intersection",
+        "pedestrian walking alongside bollard",
+        "bicyclist riding in vehicle lane",
         "pedestrian facing toward the bus",
-        "ego vehicle with vehicles on both sides",
-        "vehicle changing lanes while in bike lane",
-        "box truck changing lanes ahead"
+        "bicycle traveling against traffic",
+        "construction item on road",
+        "ego vehicle near construction barrel"
     ],
-    "bd90cd1a-38b6-33b7-adec-ba7d4207a8c0": [
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "the vehicle two cars in front of the ego vehicle",
+    "da036982-92bf-36a8-b880-4ccf4e20b74e": [
+        "pedestrian near bollard",
+        "bicycle traveling alongside parked vehicles",
+        "jaywalking pedestrian",
+        "making a left lane change while there is a vehicle to the right",
         "ego vehicle with vehicles on both sides",
-        "ego vehicle two cars ahead of another vehicle",
-        "vehicle moving at crawling speed",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle facing away from the ego vehicle",
-        "car turning right",
-        "vehicle crossing path of another vehicle"
+        "vehicle second in line waiting at a red light",
+        "ego vehicle following vehicle being overtaken on right",
+        "left lane change while there is a vehicle to the left",
+        "bicycle following closely behind a vehicle",
+        "ego vehicle waiting for pedestrians to cross"
     ],
-    "f668074d-d6c6-3ea7-a7b5-aad0a1203b03": [
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle facing the ego vehicle",
-        "vehicle traveling over 20 meters per second",
-        "vehicle braking heavily",
+    "27c03d98-6ac3-38a3-ba5e-102b184d01ef": [
+        "vehicle following behind utility vehicle (UTV) on the road",
+        "objects getting closer to the ego vehicle",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "vehicle two cars ahead is changing lanes",
+        "box truck in bike lane",
         "vehicle facing toward parked vehicles",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "motorcyclist braking hard"
+        "ego vehicle driving during daylight",
+        "ego vehicle driving on a clear day",
+        "parked vehicle",
+        "ego vehicle approaching police car with its police lights on"
     ],
-    "58e82365-03bc-3b2f-b55a-a4ad0e3e792d": [
-        "vehicle being passed on the left by another vehicle",
-        "passenger vehicle turning right",
-        "vehicle braking heavily",
-        "vehicle making a right turn",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle following another vehicle too closely",
-        "vehicle two vehicles ahead is braking",
-        "two cars back from the ego vehicle",
-        "a group of people",
-        "active vehicle at stop sign"
+    "7606de8d-486c-4916-9cbb-002ee966f834": [
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "pedestrians getting off bus",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "three or more buses at an intersection",
+        "bus changing lanes",
+        "vehicle sharing a lane with another vehicle",
+        "ego vehicle changing lanes near construction zone",
+        "dog crossing in front of vehicle",
+        "vehicle moving at crawling speed",
+        "at least active 2 vehicles within 15 meters behind ego vehicle"
     ],
-    "7de2e535-81df-3d5f-a5ca-62e4b940eb54": [
-        "parked box trucks",
-        "regular vehicle turning right",
-        "regular vehicles that are stopped or nearly stopped",
-        "parked vehicle",
-        "box truck braking in front of ego vehicle",
-        "ego vehicle near construction cone",
-        "passenger vehicle turning right",
+    "87ca3d9f-f317-3efb-b1cb-aaaf525227e5": [
+        "ego vehicle near construction barrel",
+        "bus within 5 meters to either side of ego vehicle",
+        "person on scooter heading toward the ego vehicle",
+        "bicycle near a bus",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "bicycle on intersection",
+        "vehicle being crossed by a pedestrian",
+        "motorcyclist in front of ego vehicle in left turn lane",
+        "motorcyclist braking hard",
+        "motorcyclist"
+    ],
+    "de56b100-508b-3479-81fe-735349f8e8de": [
+        "pedestrian near stop sign",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "pedestrian to the left of a truck",
+        "pedestrian on intersection not using a crosswalk",
+        "bicycle near a bus",
+        "stop sign behind a pedestrian",
         "truck on intersection",
-        "multiple pedestrians crossing ahead",
-        "pedestrian near stop sign"
+        "left lane change while there is a vehicle to the left",
+        "person on a rideable lawnmower",
+        "person in wheelchair traveling down the street"
     ],
-    "42f92807-0c5e-3397-bd45-9d5303b4db2a": [
-        "vehicle being overtaken on the right",
-        "vehicle two vehicles ahead is changing lanes",
-        "ego vehicle following vehicle being overtaken on right",
+    "78f7cb5c-9d51-34f0-b356-9b3d83263c75": [
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle traveling over 20 meters per second",
-        "vehicle changing lanes to the right",
+        "vehicle facing and heading toward pedestrian group",
+        "multiple pedestrians crossing ahead",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "lens flare in camera of ego vehicle",
+        "ego vehicle passing parked bus",
+        "unattended dog",
+        "multiple people jaywalking in front of the ego vehicle",
+        "ego vehicle approaching crossing pedestrians"
+    ],
+    "fbee355f-8878-31fa-8ac8-b9a45a3f130a": [
+        "bicycle facing toward moving traffic",
+        "bicycle and vehicle traveling in bike lane",
+        "moving bicycle directly to the left of the ego vehicle",
+        "bicycle facing toward a vehicle",
+        "vehicle passing ego vehicle on nearly empty straight road",
+        "person",
+        "pedestrian behind car parked on side of street",
+        "ego vehicle approaching stopped delivery truck",
+        "pedestrian facing toward ego vehicle",
+        "pedestrian walking past right side of vehicle"
+    ],
+    "96dd6923-994c-3afe-9830-b15bdfd60f64": [
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "any vehicle in front of stop sign",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle approaching ego vehicle during unprotected left turn",
         "vehicle changing lanes while on an intersection",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle braking heavily",
-        "bicycle passing by parked vehicle"
+        "ego vehicle following vehicle being overtaken on right",
+        "box truck near at least 3 construction cones",
+        "vehicle sitting on the median",
+        "ego vehicle driving while it is cloudy"
     ],
-    "0aa4e8f5-2f9a-39a1-8f80-c2fdde4405a2": [
-        "dog near an intersection",
-        "dog",
-        "dog near pedestrian",
-        "vehicle at intersection facing another vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle in close proximity to bicycle",
-        "pedestrian to the back-right of the ego vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle accelerating aggressively",
-        "vehicle accelerating on intersection"
+    "e2e921fe-e489-3656-a0a2-5e17bd399ddf": [
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle with multiple pedestrians to the left",
+        "multiple buses within 50 meters ahead",
+        "school bus on intersection",
+        "box truck in the same lane as a school bus",
+        "school bus at pedestrian crossing",
+        "three busses traveling in the same lane",
+        "bus with another bus in its lane",
+        "pedestrian facing away from the ego vehicle",
+        "waiting until it is safe to turn onto the road"
     ]
 }
\ No newline at end of file