Appendix

Our dataset is released under the CC BY -NC 4.0 license, allowing We include more dataset visualizations depicting various ego-actions in Figure 9 . Interaction plays a crucial role in driving scenarios. The sixth scenario showcases encountering road construction ahead, followed by encountering a street sweeper in the seventh scenario. Typically belonging to the tail end of a long-tail distribution, these scenarios are rare yet crucial for ensuring safe driving. Lane Changing: Changing lanes to overtake slower vehicles or merge into traffic.