{
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        "vehicle turning left with a bicycle in front of it",
        "ego vehicle approaching cyclist in same lane",
        "pedestrian crossing at bollard",
        "the active vehicle in front of the vehicle ahead",
        "bicycle traveling alongside parked vehicles",
        "motorcyclist traveling opposite to bicycle traffic",
        "accelerating truck",
        "bicycle near traffic cone",
        "bicycle crossing vehicle path at intersection",
        "truck on intersection"
    ],
    "1a4e2d86-23d4-3a0d-a9ac-8b0936ae94ce": [
        "group of pedestrians ahead of the ego vehicle",
        "vehicle approaching multiple pedestrians at crosswalk",
        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
        "ego vehicle approaching stopped delivery truck",
        "pedestrian between moving vehicles on both sides",
        "active vehicle at stop sign",
        "pedestrian near bollard",
        "jaywalking pedestrian",
        "stroller",
        "vehicle hard braking with another vehicle ahead"
    ],
    "c0d36fde-5672-430a-9dd1-3e2a5d4f6cab": [
        "bicycle in vehicle lane with vehicle",
        "group of three people",
        "bicycle facing toward a vehicle",
        "bicyclist riding in vehicle lane",
        "ego vehicle near construction cone",
        "pedestrian with wheelchair at crosswalk",
        "ego vehicle near bollard",
        "vehicle in close proximity to bicycle",
        "pedestrian near construction cone",
        "dog on roadway"
    ],
    "0a8a4cfa-4902-3a76-8301-08698d6290a2": [
        "vehicle being tailgated while approaching stopped traffic",
        "bicycle passing by parked vehicle",
        "pedestrian facing toward ego vehicle",
        "vehicle turning left",
        "passenger vehicle swerving left",
        "bicyclist changing lanes to the right",
        "ego vehicle near construction cone",
        "vehicle braking at pedestrian crossing",
        "vehicle facing toward parked vehicles",
        "vehicle two cars ahead is braking"
    ],
    "fa708289-f2b2-399e-989e-53f83fa379c5": [
        "bus in the same lane as a truck",
        "vehicle behind another vehicle that has a pedestrian on its right side",
        "pedestrian walking with stroller",
        "box truck braking in front of ego vehicle",
        "vehicle turning left at intersection while sharing lane with a bus",
        "vehicle near construction barrel",
        "vehicle stopped at construction barrel",
        "vehicle accelerating towards pedestrian crossing",
        "moving bus to the front-left of the ego vehicle",
        "ego vehicle with vehicles on both sides"
    ],
    "902d5e72-b665-3615-af2d-a2b6164864b2": [
        "box truck changing lanes ahead",
        "pedestrians facing each other at close range, possibly conversing",
        "group of people",
        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
        "ego vehicle following vehicle being overtaken on right",
        "ego vehicle changing lanes to the left",
        "ego vehicle with box truck ahead and motorcycle behind",
        "group of pedestrians ahead of the ego vehicle",
        "vehicle two cars ahead is changing lanes",
        "vehicle braking at pedestrian crossing"
    ],
    "76038978-47aa-30ed-bfa1-2d63753a866c": [
        "vehicle maneuvering between construction barriers",
        "pedestrian walking alongside bollard",
        "pedestrian to the back-right of the ego vehicle",
        "bus within 5 meters to either side of ego vehicle",
        "box truck changing lanes to the left",
        "vehicle turning right near construction zone",
        "ego vehicle changing lanes to the right with a vehicle ahead",
        "ego vehicle changing lanes near construction zone",
        "stop sign behind a pedestrian",
        "pedestrians using designated crossing"
    ],
    "93b755f1-f865-44dc-a98d-cae5eb1a25d0": [
        "group of pedestrians ahead of the ego vehicle",
        "ego vehicle with vehicles on both sides",
        "ego vehicle changing lanes to the left",
        "dog",
        "pedestrian approaching a parked vehicle",
        "dog near pedestrian",
        "stop sign behind a pedestrian",
        "vehicle turning right at stop sign",
        "group of people",
        "pedestrian near stop sign"
    ],
    "aa105408-2974-35e7-ae76-35060cfde21a": [
        "bicycle in vehicle lane with vehicle",
        "vehicle turning left with a bicycle in front of it",
        "ego vehicle approaching cyclist in same lane",
        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
        "accelerating truck",
        "bicycle crossing vehicle path at intersection",
        "vehicle stopped at a stop sign",
        "pedestrian in front of a bicyclist who is to the left of a vehicle",
        "bicyclist on intersection",
        "bicycle sharing lane as a regular vehicle"
    ],
    "41b6f7d7-e431-3992-b783-74b9edf42215": [
        "stopped vehicles at intersection being crossed by pedestrians",
        "vehicle two cars ahead is braking",
        "stopped vehicle facing a turning vehicle between 5-20 meters away",
        "regular vehicle turning right",
        "vehicle two cars ahead is being crossed by a pedestrian",
        "vehicle approaching stopped vehicle at intersection",
        "vehicle stopped at a stop sign",
        "group of people",
        "active vehicle at stop sign",
        "pedestrian walking past right side of vehicle"
    ],
    "5aed7fcd-651c-38a7-9523-9d48bf92aeaa": [
        "bus in the same lane as a truck",
        "ego vehicle changing lanes to the right with a vehicle ahead",
        "truck on intersection",
        "vehicle changing lanes to the right",
        "city bus",
        "pedestrian facing toward the bus",
        "semi truck within 30 meters ahead of ego vehicle",
        "motorcycle overtaking a vehicle",
        "oncoming vehicle changing lanes",
        "parked box trucks"
    ],
    "5d333477-796b-3e49-bf41-0cdbed39c8dd": [
        "vehicle braking heavily",
        "accelerating truck",
        "ego vehicle near bollard",
        "making a left lane change while there is a vehicle to the right",
        "pedestrian crossing in front of cyclist near intersection",
        "bicycle traveling alongside parked vehicles",
        "dog near an intersection",
        "vehicle approaching pedestrians waiting at a crosswalk",
        "pedestrian walking with stroller",
        "pedestrian crossing between bollards"
    ],
    "f7cdc2d1-f59a-30a2-aae8-8bb81c769e6e": [
        "ego vehicle near bollard",
        "pedestrians over 30 meters away",
        "bus with multiple strollers in front",
        "ego vehicle with vehicles on both sides",
        "person",
        "at least active 2 vehicles within 15 meters behind ego vehicle",
        "vehicle to the back right of the ego vehicle",
        "vehicle following another vehicle too closely",
        "stroller with bollards on both sides",
        "vehicle near multiple bollards"
    ],
    "0749e9e0-ca52-3546-b324-d704138b11b5": [
        "pedestrian walking past right side of vehicle",
        "truck sharing a lane with another truck",
        "vehicle moving at crawling speed",
        "making a left lane change while there is a vehicle to the right",
        "box truck changing lanes to the right",
        "left lane change while there is a vehicle to the left",
        "vehicle two cars ahead is changing lanes",
        "pedestrian to the back-right of the ego vehicle",
        "vehicle two vehicles ahead is changing lanes",
        "ego vehicle in dense traffic with lane-changing vehicles"
    ],
    "b81922e7-092f-3052-8cd1-fec6a6763295": [
        "box trucks within 10 meters of an intersection",
        "lane splitting motorcycle",
        "vehicle accelerating on intersection",
        "box truck changing lanes to the left",
        "bus making right turn",
        "vehicle turning right near construction zone",
        "box truck changing lanes ahead",
        "vehicle near construction barrel",
        "bicycle sharing lane as a regular vehicle",
        "passenger vehicle turning left at intersection"
    ],
    "a7a2236e-8f8e-34aa-9343-722f9b3bb829": [
        "bicycle and vehicle traveling in bike lane",
        "vehicle near message board trailer",
        "car following closely behind bicyclist",
        "bicyclist within 3 meters on either side",
        "bicyclist on intersection",
        "ego vehicle near construction barrel",
        "bicycle traveling with vehicle traffic",
        "bicycle traveling alongside construction indicators",
        "bicycle traveling against traffic",
        "bicycle following closely behind a vehicle"
    ],
    "e424d4f7-4b28-322f-b630-31d42ae528eb": [
        "ego vehicle following vehicle being overtaken on right",
        "vehicle braking heavily",
        "vehicle traveling in the opposite direction as the ego vehicle",
        "vehicle facing toward parked vehicles",
        "car turning right",
        "vehicle making a right turn",
        "vehicle moving at crawling speed",
        "ego vehicle changing lanes to the left",
        "ego vehicle near articulated bus",
        "accelerating passenger vehicle"
    ],
    "a1537c1c-775b-3969-ae13-2e83e5a4728a": [
        "pedestrian near stop sign",
        "bicycle in vehicle lane with vehicle",
        "vehicle turning left while pedestrian crosses at crosswalk",
        "vehicle passing school bus at stop",
        "pedestrian with multiple dogs",
        "bicycle sharing lane as a regular vehicle",
        "bicycle passing by parked vehicle",
        "dog near an intersection",
        "pedestrian in front of a bicyclist who is to the left of a vehicle",
        "bicycle in same lane as a vehicle"
    ],
    "298715e3-b204-3bf5-b8c2-fe3be9e310e8": [
        "vehicle two cars ahead is being crossed by a pedestrian",
        "ego vehicle near construction barrel",
        "vehicle maneuvering between construction barriers",
        "person",
        "city bus",
        "the vehicle two cars in front of the ego vehicle",
        "pedestrian walking between construction barriers with approaching vehicle",
        "vehicle being passed on the left by another vehicle",
        "vehicle following another vehicle too closely",
        "vehicle at a stop sign"
    ],
    "855908a6-a848-3b7b-a4a3-bbab78a423cd": [
        "vehicle passing stopped truck with pedestrian nearby",
        "vehicle getting passed from the right",
        "bicycle near traffic cone",
        "motorcyclist",
        "vehicle approaching stopped vehicle at intersection",
        "multiple buses within 50 meters ahead",
        "vehicle being overtaken on the right",
        "bus with another bus in its lane",
        "vehicles being passed by a motorcycle on either side",
        "vehicle two cars ahead is changing lanes"
    ],
    "b403f8a3-4cad-333e-8557-d7da2e163f4b": [
        "vehicle turning left while pedestrian crosses at crosswalk",
        "multiple pedestrians crossing ahead",
        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
        "pedestrian near construction cone",
        "vehicle traveling over 20 meters per second",
        "pedestrian turning and watching the ego vehicle",
        "vehicle navigating near multiple bicycles",
        "pedestrian walking alongside stopped bus",
        "vehicle within 5 meters of a bicycle",
        "pedestrian near stop sign"
    ],
    "93582b51-5be1-30cd-abb0-3eac16dd6dbc": [
        "vehicle turning left",
        "ego vehicle in dense traffic with lane-changing vehicles",
        "vehicle to the back right of the ego vehicle",
        "vehicle turning while pedestrian crosses with stroller",
        "bicycle near traffic cone",
        "vehicle behind another vehicle that has a pedestrian on its right side",
        "vehicle facing toward parked vehicles",
        "vehicle two vehicles ahead is braking",
        "vehicle moving at crawling speed",
        "passenger vehicle turning left at intersection"
    ],
    "ce0e814a-d9df-3975-a521-d8ae9a091e96": [
        "regular vehicle turning right",
        "pedestrian to the left of a truck",
        "multiple pedestrians crossing ahead",
        "pedestrian walking alongside bollard",
        "truck sharing a lane with another truck",
        "pedestrian crossing at bollard",
        "ego vehicle approaching stopped truck",
        "vehicle facing and accelerating toward pedestrian on road",
        "the vehicle two cars in front of the ego vehicle",
        "truck on intersection"
    ],
    "e4f6dbab-f2eb-3bd2-9dbc-88640e3b4a5f": [
        "vehicle moving at crawling speed",
        "vehicle two vehicles ahead is turning",
        "vehicle traveling in the opposite direction as the ego vehicle",
        "group of at least 3 moving bicyclists within 5 meters of each other",
        "vehicle directly facing a moving pedestrian from 5-15 meters away",
        "vehicle turning left",
        "vehicle accelerating more than two meters per second",
        "ego vehicle with vehicles on both sides",
        "vehicle changing lanes through bike lane",
        "ego vehicle two cars ahead of another vehicle"
    ],
    "9bdb4139-173f-33d3-8730-e29752d737d3": [
        "motorcyclist",
        "pedestrian on intersection not using a crosswalk",
        "pedestrian walking alongside bollard",
        "multiple pedestrians crossing ahead",
        "vehicle stopped at official signaler",
        "stopped vehicles at intersection being crossed by pedestrians",
        "pedestrian crossing in front of vehicle at crosswalk",
        "pedestrian walking with stroller",
        "pedestrian crossing at bollard",
        "pedestrians facing each other at close range, possibly conversing"
    ],
    "c780d53a-2d37-3cd8-9e89-530966aef53e": [
        "bicycle facing toward moving traffic",
        "vehicle traveling over 20 meters per second",
        "ego vehicle with vehicles on both sides",
        "any vehicle in front of stop sign",
        "vehicle being tailgated while approaching stopped traffic",
        "vehicle being passed on the left by another vehicle",
        "box truck at stop sign",
        "objects getting closer to the ego vehicle",
        "vehicle changing lanes",
        "vehicle traveling in the opposite direction as the ego vehicle"
    ],
    "f8412dbd-48b9-39f3-b534-08950f6e633b": [
        "vehicle changing lanes",
        "passenger vehicle swerving left",
        "making a left lane change while there is a vehicle to the right",
        "vehicle behind another vehicle that has a pedestrian on its right side",
        "ego vehicle near construction barrel",
        "box truck changing lanes to the right",
        "vehicle changing lanes while on an intersection",
        "construction barrel with at least 2 construction cones within 3 meters",
        "bus in the same lane as a truck",
        "vehicle near construction barrel"
    ],
    "2aea7bd1-432a-43c5-9445-651102487f65": [
        "vehicle following another vehicle too closely",
        "bicycle facing toward a vehicle",
        "bicycle traveling alongside parked vehicles",
        "person",
        "pedestrians over 30 meters away",
        "vehicle near multiple bollards",
        "bicycle passing by parked vehicle",
        "vehicle crossing path of another vehicle",
        "vehicle with a bicycle to its right",
        "bicycle facing toward moving traffic"
    ],
    "8934694e-8085-3673-96dd-eacebe691ed1": [
        "motorcycle between two vehicles",
        "vehicle within 5 meters of a bicycle",
        "vehicle changing lanes through bike lane",
        "vehicle two vehicles ahead is changing lanes",
        "motorcycle at stop sign",
        "bus with at least 3 pedestrians within 5 meters",
        "ego vehicle near construction barrel",
        "vehicle with a bicycle to its right",
        "vehicle changing lanes while in bike lane",
        "ego vehicle with parked bicycles ahead"
    ],
    "956dd277-e000-4c6c-af4a-aee4d86971c9": [
        "ego vehicle changing lanes near construction zone",
        "pedestrian facing toward ego vehicle",
        "vehicle braking near pedestrian crossing",
        "vehicle at a stop sign",
        "vehicles being passed by a motorcycle on either side",
        "accelerating passenger vehicle",
        "vehicle between two bicycles while on pedestrian crossing",
        "motorcyclist",
        "active vehicle at stop sign",
        "vehicle being overtaken on the left"
    ],
    "c6c55112-0078-3867-a63f-1861a0125b8d": [
        "car with a stroller to its left",
        "the vehicle two cars behind the ego vehicle",
        "bus with at least 3 pedestrians within 5 meters",
        "ego vehicle two cars ahead of another vehicle",
        "vehicle accelerating on intersection",
        "vehicle accelerating more than two meters per second",
        "vehicle turning right with pedestrian waiting",
        "any vehicle in front of stop sign",
        "making a left lane change while there is a vehicle to the right",
        "vehicle turning right at stop sign"
    ],
    "5bd6bd4d-3c89-3794-9935-2d044ce6ef37": [
        "vehicle changing lanes near message board trailer",
        "vehicle being overtaken on the right",
        "left lane change while there is a vehicle to the left",
        "vehicle accelerating more than two meters per second",
        "car turning right",
        "vehicle being followed by ego vehicle while being overtaken on right",
        "vehicle near message board trailer",
        "moving bus to the front-left of the ego vehicle",
        "bus with multiple pedestrians waiting on the right side",
        "vehicle changing lanes to the right"
    ],
    "0322b098-7e42-34db-bcec-9a4d072191e9": [
        "ego vehicle changing lanes to the right with a vehicle ahead",
        "vehicle changing lanes while on an intersection",
        "pedestrian crossing ahead of ego vehicle",
        "ego vehicle merging between two regular vehicles",
        "vehicle turning right with pedestrian waiting",
        "pedestrian turning and watching the ego vehicle",
        "vehicle being crossed by a pedestrian",
        "vehicle traveling over 20 meters per second",
        "bus with another bus in its lane",
        "vehicle braking near jaywalking pedestrian or stroller"
    ],
    "62879808-1586-4d49-80fe-2f547e355191": [
        "ego vehicle approaching crossing pedestrians",
        "passenger vehicle near stroller in road",
        "vehicle two cars ahead is braking",
        "car driving in bus lane",
        "ego vehicle approaching pedestrian at crosswalk",
        "moving bus to the front-left of the ego vehicle",
        "multiple buses within 50 meters ahead",
        "bus within 5 meters to either side of ego vehicle",
        "vehicle with multiple construction cones on the left side",
        "construction barrel with at least 2 construction cones within 3 meters"
    ],
    "54bc6dbc-ebfb-3fba-b5b3-57f88b4b79ca": [
        "vehicle maneuvering between construction barriers",
        "vehicle turning right near construction zone",
        "vehicle passing stopped truck with pedestrian nearby",
        "vehicle sharing a lane with another vehicle",
        "oncoming vehicle changing lanes",
        "passenger vehicle turning right",
        "bicycle passing between bus and construction barrier",
        "vehicle near construction barrel",
        "ego vehicle two cars ahead of another vehicle",
        "ego vehicle near construction barrel"
    ],
    "debbba6b-8cb8-3ab6-adfe-54fcc6b02839": [
        "vehicle approaching stopped vehicle at intersection",
        "vehicle two cars ahead is being crossed by a pedestrian",
        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
        "vehicle in close proximity to bicycle",
        "pedestrian walking with dog on sidewalk",
        "vehicles being passed by a motorcycle on either side",
        "vehicle traveling over 20 meters per second",
        "pedestrian crossing at bollard",
        "pedestrian to the back-right of the ego vehicle",
        "car driving in bus lane"
    ],
    "f8825b65-5631-3417-8309-bd5677d694aa": [
        "pedestrian on road not facing traffic",
        "stopped car",
        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
        "vehicle approaching and facing a stopped vehicle at an intersection",
        "ego vehicle near bollard",
        "bicycle near school bus",
        "motorcycle or pedestrian within 5 meters to the right",
        "the active vehicle in front of the vehicle ahead",
        "vehicle two vehicles ahead is turning",
        "pedestrian crossing in front of vehicle at crosswalk"
    ],
    "e757cddd-5ff5-305a-af11-d7c6747d3979": [
        "bus with at least 3 pedestrians within 5 meters",
        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
        "vehicle traveling in the opposite direction as the ego vehicle",
        "bicycle near traffic cone",
        "vehicle following another vehicle too closely",
        "dog",
        "box truck at stop sign",
        "vehicle sharing a lane with another vehicle",
        "vehicle with animal in front",
        "vehicle with a bicycle to its right"
    ],
    "1886b0d1-9c5e-326f-99df-30b64044638f": [
        "moving bus to the front-left of the ego vehicle",
        "ego vehicle near articulated bus",
        "city bus",
        "ego vehicle approaching stopped delivery truck",
        "group of people",
        "pedestrians facing each other at close range, possibly conversing",
        "jaywalking pedestrian",
        "vehicle passing stopped truck with pedestrian nearby",
        "vehicle stopped at a stop sign",
        "vehicle braking near jaywalking pedestrian or stroller"
    ],
    "189c8512-b034-3d58-a372-cf48eacf02dd": [
        "passenger vehicle swerving left",
        "jaywalking pedestrian",
        "ego vehicle following vehicle that is being overtaken on the right",
        "truck on intersection",
        "vehicle accelerating while changing lanes",
        "box truck braking in front of ego vehicle",
        "making a left lane change while there is a vehicle to the right",
        "pedestrian on road not facing traffic",
        "ego vehicle approaching stopped delivery truck",
        "vehicle to the back right of the ego vehicle"
    ],
    "88ebed6a-e9a4-3d60-9011-ec1df75cc8d6": [
        "dog",
        "jaywalking pedestrian",
        "pedestrian with multiple dogs",
        "pedestrian walking alongside bollard",
        "vehicle passing truck with pedestrian crossing ahead",
        "pedestrian near bollard",
        "ego vehicle near bollard",
        "bicycle traveling with vehicle traffic",
        "pedestrian walking with stroller",
        "dog near pedestrian"
    ],
    "51e6b881-e5a1-30c8-ae2b-02891d5a54ce": [
        "ego vehicle approaching crossing pedestrians",
        "bus with another bus in its lane",
        "pedestrian on road not facing traffic",
        "ego vehicle changing lanes to the right with a vehicle ahead",
        "bus with multiple pedestrians waiting on the right side",
        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
        "pedestrian walking alongside stopped bus",
        "multiple pedestrians crossing ahead",
        "moving bicycle directly to the left of the ego vehicle",
        "bus making right turn"
    ],
    "8ca98d88-67b5-385e-80f7-b32758668fab": [
        "pedestrian walking alongside bollard",
        "motorcycle between stopped vehicles",
        "bicycle following closely behind a vehicle",
        "ego vehicle near stroller on sidewalk",
        "stroller",
        "stroller with bollards on both sides",
        "vehicle maneuvering between construction barriers",
        "ego vehicle changing lanes near construction zone",
        "pedestrian near stop sign",
        "ego vehicle changing lanes to the left"
    ],
    "e5178032-d260-3bc8-968e-a5cb98b6ae5a": [
        "vehicle moving at crawling speed",
        "motorcycle or pedestrian within 5 meters to the right",
        "vehicle crossing path of another vehicle",
        "vehicle sharing a lane with another vehicle",
        "vehicle at a stop sign",
        "vehicle following another vehicle too closely",
        "vehicle to the back right of the ego vehicle",
        "objects getting closer to the ego vehicle",
        "vehicle hard braking with another vehicle ahead",
        "vehicle two vehicles ahead is turning"
    ],
    "953087a4-f704-37fe-a60f-82877e84a413": [
        "pedestrian crossing in front of cyclist near intersection",
        "bicycle facing toward moving traffic",
        "vehicle changing lanes through bike lane",
        "vehicle changing lanes while in bike lane",
        "vehicle crossing path of another vehicle",
        "vehicle braking at pedestrian crossing",
        "ego vehicle two cars ahead of another vehicle",
        "vehicle braking near pedestrian crossing",
        "vehicle getting passed from the right",
        "vehicle hard braking with another vehicle ahead"
    ],
    "cd822baf-4aa1-33fa-bfe5-d91386598edb": [
        "vehicle at a stop sign",
        "vehicle turning right at stop sign",
        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
        "vehicle facing and accelerating toward pedestrian on road",
        "vehicle turning right next to pedestrian with stroller",
        "pedestrian walking past right side of vehicle",
        "truck cab with trailer sharing lane with regular vehicle",
        "the vehicle two cars behind the ego vehicle",
        "vehicle braking near jaywalking pedestrian or stroller",
        "stop sign behind a pedestrian"
    ],
    "156a412d-3699-3c1c-9ada-6ab587347996": [
        "vehicle to the back right of the ego vehicle",
        "vehicle at intersection facing another vehicle",
        "pedestrian to the left of a truck",
        "any vehicle in front of stop sign",
        "stopped vehicle facing a turning vehicle between 5-20 meters away",
        "two cars back from the ego vehicle",
        "vehicle behind another vehicle that has a pedestrian on its right side",
        "stationary construction barrel",
        "car turning right",
        "city bus"
    ],
    "e3a935bf-1428-32a4-8d53-caa71ee3de8f": [
        "moving wheelchair within 5 meters of an intersection",
        "vehicle turning right with pedestrian in front",
        "vehicle two vehicles ahead is turning",
        "car turning right",
        "vehicle two cars ahead is being crossed by a pedestrian",
        "bicycle sharing lane as a regular vehicle",
        "vehicle two cars ahead is braking",
        "vehicle traveling in the opposite direction as the ego vehicle",
        "ego vehicle approaching crossing pedestrians",
        "active vehicle at stop sign"
    ],
    "b7843066-abbd-3275-ac52-90a8363f65f7": [
        "any vehicle in front of stop sign",
        "multiple motorcycles ahead of the ego vehicle",
        "vehicle turning left",
        "the active vehicle in front of the vehicle ahead",
        "active vehicle at stop sign",
        "vehicle near multiple bollards",
        "vehicle to the back right of the ego vehicle",
        "vehicle navigating near multiple bicycles",
        "vehicle stopped at a stop sign",
        "vehicle two vehicles ahead is at a stop sign"
    ],
    "d842ce41-8d9c-3c0f-9c04-595d97be5140": [
        "motorcycle passing between parked vehicles",
        "motorcycle or pedestrian within 5 meters to the right",
        "regular vehicle turning right",
        "passenger vehicle turning right",
        "pedestrian to the back-right of the ego vehicle",
        "parked box trucks",
        "stop sign behind a pedestrian",
        "pedestrian near stop sign",
        "box truck near at least 3 construction cones",
        "ego vehicle near articulated bus"
    ],
    "9a8aea4b-9b61-3884-9f3c-84c3c36e6373": [
        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
        "pedestrian near construction cone",
        "person",
        "pedestrians facing each other at close range, possibly conversing",
        "ego vehicle changing lanes near construction zone",
        "box truck braking in front of ego vehicle",
        "bus in bus lane",
        "bus with another bus in its lane",
        "bicycle in vehicle lane with vehicle",
        "car driving in bus lane"
    ],
    "7c696d35-e34f-38b0-b4b4-e88803ad1f6a": [
        "bicycle near traffic cone",
        "pedestrian walking between construction barriers with approaching vehicle",
        "stroller",
        "vehicle turning right with pedestrian waiting",
        "vehicle two vehicles ahead is being crossed by a pedestrian",
        "pedestrian on intersection not using a crosswalk",
        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
        "unattended dog",
        "vehicle with multiple bicycles ahead",
        "regular vehicle turning right"
    ],
    "57636c80-9335-3aae-af70-11755db93854": [
        "moving bicycle directly to the left of the ego vehicle",
        "bicycle traveling against traffic",
        "truck changing lanes to the right",
        "pedestrian walking between construction barriers with approaching vehicle",
        "vehicle maneuvering between construction barriers",
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        "the vehicle two cars in front of the ego vehicle",
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        "ego vehicle following vehicle being overtaken on right",
        "vehicle changing lanes while in bike lane",
        "bus with multiple pedestrians waiting on the right side",
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        "ego vehicle approaching stopped truck",
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        "bicycle sharing lane as a regular vehicle",
        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
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        "bicycle traveling against traffic",
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        "vehicle between two bicycles while on pedestrian crossing",
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        "ego vehicle in dense traffic with lane-changing vehicles",
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        "vehicle being tailgated while approaching stopped traffic",
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        "vehicle navigating near multiple bicycles",
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        "vehicle facing and accelerating toward pedestrian on road",
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        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
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        "the vehicle two cars behind the ego vehicle",
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        "pedestrian walking alongside bollard",
        "vehicle two cars ahead is braking",
        "vehicle changing lanes to the right",
        "accelerating vehicle changing lanes to the right",
        "pedestrian with multiple dogs",
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        "stopped vehicle facing a turning vehicle between 5-20 meters away"
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        "at least active 2 vehicles within 15 meters behind ego vehicle",
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        "truck cab with trailer sharing lane with regular vehicle",
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        "bus with multiple pedestrians waiting on the right side",
        "pedestrian in front of a bicyclist who is to the left of a vehicle",
        "car following closely behind bicyclist",
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        "pedestrian walking with dog on sidewalk",
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        "a group of people",
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        "pedestrian on road not facing traffic",
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        "moving pedestrian within 3 meters to the left of ego vehicle",
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        "pedestrian crossing between bollards",
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        "vehicle two cars ahead is braking",
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        "bus changing lanes",
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        "bus with multiple pedestrians waiting on the right side",
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        "bus with at least 3 pedestrians within 5 meters",
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        "truck cab with trailer sharing lane with regular vehicle",
        "ego vehicle near construction cone",
        "vehicle navigating near multiple bicycles",
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        "vehicle braking near pedestrian crossing",
        "semi truck within 30 meters ahead of ego vehicle",
        "vehicle changing lanes",
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        "vehicle being overtaken on the left",
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        "school bus on intersection",
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        "vehicle braking heavily",
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        "pedestrian facing toward ego vehicle",
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        "regular vehicles that are stopped or nearly stopped",
        "pedestrians over 30 meters away",
        "person",
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        "pedestrian facing toward ego vehicle",
        "bicycle traveling against traffic",
        "vehicle passing school bus at stop",
        "car following closely behind bicyclist",
        "accelerating passenger vehicle"
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        "truck in the same lane as a bus",
        "bus in the same lane as a truck",
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        "moving pedestrian within 3 meters to the left of ego vehicle",
        "ego vehicle approaching stopped truck",
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        "bicyclist changing lanes to the right",
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        "bus with another bus in its lane",
        "bicycle on intersection",
        "vehicle changing lanes",
        "vehicle changing lanes to the right",
        "vehicle being overtaken while approaching another vehicle",
        "accelerating truck",
        "vehicle being followed by ego vehicle while being overtaken on right"
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    "3c56f1ef-d4df-30ae-80f3-0a5b22d4d3a6": [
        "vehicle sharing a lane with another vehicle",
        "oncoming vehicle changing lanes",
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        "vehicle facing and heading toward pedestrian group",
        "pedestrian walking with dog on sidewalk",
        "vehicle traveling in the opposite direction as the ego vehicle",
        "vehicle changing lanes through bike lane",
        "vehicle two cars ahead is being crossed by a pedestrian",
        "moving bus to the front-left of the ego vehicle",
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        "vehicles being passed by a motorcycle on either side",
        "pedestrian crossing at bollard",
        "bus in bus lane",
        "stop sign behind a pedestrian",
        "pedestrian walking alongside stopped bus",
        "pedestrian with multiple dogs",
        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
        "pedestrian walking with dog on sidewalk",
        "bicycle near traffic cone",
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    ],
    "97738d01-b24f-365e-8818-2463149154d2": [
        "pedestrian turning and watching the ego vehicle",
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        "regular vehicles that are stopped or nearly stopped",
        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
        "stopped vehicle facing a turning vehicle between 5-20 meters away",
        "stopped car",
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    ],
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        "ego vehicle changing lanes to the right with a vehicle ahead",
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        "bus within 5 meters to either side of ego vehicle",
        "bicycle behind a bus",
        "vehicle within 5 meters of a bicycle",
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        "a group of people",
        "bus with at least 3 pedestrians within 5 meters",
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    "a0cb0614-ee71-3cf3-b891-a4274883362f": [
        "ego vehicle two cars ahead of another vehicle",
        "regular vehicle turning right",
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        "the vehicle two cars behind the ego vehicle",
        "passenger vehicle turning right",
        "car turning right",
        "vehicle moving at crawling speed",
        "regular vehicles that are stopped or nearly stopped",
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        "vehicle in close proximity to bicycle",
        "pedestrian facing toward ego vehicle",
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        "dog",
        "vehicle two vehicles ahead is being crossed by a pedestrian",
        "dog near pedestrian",
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        "ego vehicle near construction barrel"
    ],
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        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
        "box truck changing lanes ahead",
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        "box truck braking in front of ego vehicle",
        "accelerating vehicle changing lanes to the right",
        "vehicle two cars ahead is changing lanes",
        "vehicle navigating near multiple bicycles",
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        "vehicle with multiple bicycles ahead",
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    ],
    "9158b740-6527-3194-9953-6b7b3b28d544": [
        "bus making right turn",
        "pedestrian walking with stroller",
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        "ego vehicle near stroller on sidewalk",
        "vehicle turning left at intersection while sharing lane with a bus",
        "multiple pedestrians crossing ahead",
        "vehicle between two bicycles while on pedestrian crossing",
        "pedestrian walking alongside stopped bus",
        "pedestrian on road not facing traffic",
        "bus with another bus in its lane"
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        "vehicle traveling in the opposite direction as the ego vehicle",
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        "vehicle behind another vehicle that has a pedestrian on its right side",
        "bus with multiple pedestrians waiting on the right side",
        "vehicle accelerating on intersection",
        "box truck changing lanes to the left",
        "vehicle being tailgated while approaching stopped traffic",
        "vehicle at intersection facing another vehicle",
        "person"
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        "any vehicle in front of stop sign",
        "bus with another bus in its lane",
        "ego vehicle approaching stopped truck",
        "pedestrian crossing at bollard",
        "truck cab with trailer sharing lane with regular vehicle",
        "group of three people",
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    ],
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        "bicycle sharing lane as a regular vehicle",
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        "bicyclist riding in vehicle lane",
        "box truck near at least 3 construction cones",
        "bicycle on intersection",
        "bicycle in same lane as a vehicle",
        "ego vehicle approaching cyclist in same lane",
        "vehicle near construction barrel"
    ],
    "ff8e7fdb-1073-3592-ba5e-8111bc3ce48b": [
        "moving bus to the front-left of the ego vehicle",
        "pedestrian with multiple dogs",
        "vehicle with animal in front",
        "vehicle turning right near construction zone",
        "making a left lane change while there is a vehicle to the right",
        "bicycle passing by parked vehicle",
        "vehicle near construction barrel",
        "pedestrian on road not facing traffic",
        "vehicle turning right with pedestrian waiting",
        "oncoming vehicle changing lanes"
    ],
    "3b2994cb-5f82-4835-9212-0cac8fb3d164": [
        "bicyclist within 3 meters on either side",
        "bicycle near traffic cone",
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        "bicycle traveling alongside construction indicators",
        "moving bicycle directly to the left of the ego vehicle",
        "bicyclist changing lanes to the right",
        "vehicle with multiple construction cones on the left side",
        "vehicle with animal in front",
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    ],
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        "semi truck within 30 meters ahead of ego vehicle",
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        "bicycle facing toward a vehicle",
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        "vehicle in close proximity to bicycle",
        "truck cab with trailer sharing lane with regular vehicle",
        "dog near an intersection",
        "pedestrian crossing in front of cyclist near intersection",
        "vehicle facing and heading toward pedestrian group",
        "bicycle facing toward moving traffic"
    ],
    "c67f439a-f945-33cb-8517-40c9fdf60d59": [
        "pedestrian on road not facing traffic",
        "school bus at pedestrian crossing",
        "bicycle near school bus",
        "bicycle in same lane as a vehicle",
        "ego vehicle approaching cyclist in same lane",
        "bicycle near traffic cone",
        "bicyclist changing lanes to the right",
        "pedestrian in front of a bicyclist who is to the left of a vehicle",
        "school bus on intersection",
        "bicyclist within 3 meters on either side"
    ],
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        "a group of people",
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        "vehicle traveling in the opposite direction as the ego vehicle",
        "ego vehicle approaching crossing pedestrians",
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        "vehicle turning left",
        "vehicle being overtaken while approaching another vehicle"
    ],
    "a88da814-ecc6-39c0-93ba-8a81f403a7e4": [
        "passenger vehicle turning left at intersection",
        "ego vehicle changing lanes near construction zone",
        "bus within 5 meters to either side of ego vehicle",
        "bicycle near a bus",
        "vehicle in close proximity to bicycle",
        "motorcyclist",
        "vehicle being overtaken while approaching another vehicle",
        "motorcycle overtaking a vehicle",
        "bicycle behind a bus",
        "vehicles being passed by a motorcycle on either side"
    ],
    "a4f72852-c2ff-35d3-8375-e52055508240": [
        "truck changing lanes to the right",
        "vehicle stopped at a stop sign",
        "active vehicle at stop sign",
        "vehicle turning right at stop sign",
        "vehicle being overtaken on the left",
        "vehicle turning at intersection with nearby pedestrians",
        "box trucks within 10 meters of an intersection",
        "any vehicle in front of stop sign",
        "vehicle directly facing a moving pedestrian from 5-15 meters away",
        "vehicle being passed on the left by another vehicle"
    ],
    "ab8c747b-b9cb-3835-a275-54c56cb9a469": [
        "vehicle with multiple pedestrians to the left",
        "pedestrian walking past right side of vehicle",
        "multiple motorcycles ahead of the ego vehicle",
        "vehicle being crossed by a pedestrian",
        "pedestrian to the left of a truck",
        "pedestrian turning and watching the ego vehicle",
        "pedestrian near stop sign",
        "a group of people",
        "vehicle passing stopped truck with pedestrian nearby",
        "vehicle stopped at a stop sign"
    ]
}