diff --git a/labels/outdoor/00/00554f79-37ab-5393-8214-d734fb2d1e44.json b/labels/outdoor/00/00554f79-37ab-5393-8214-d734fb2d1e44.json
index 80e8968208cb68213ffa4e78541f6c5b5c58b13d..55300003baafbe39c3a43686c89baa6d5e66b1f6 100644
--- a/labels/outdoor/00/00554f79-37ab-5393-8214-d734fb2d1e44.json
+++ b/labels/outdoor/00/00554f79-37ab-5393-8214-d734fb2d1e44.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the silver SUV parked on the side of the road.", "destination": "the silver SUV", "start_xy": [662, 709], "ang_err_namer_deg": 9.831474234344777, "ang_err_cycle_deg": 9.831474234344777, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "00554f79_seg0", "clip": "00554f79-37ab-5393-8214-d734fb2d1e44", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the parking area on the right.", "destination": "the parking area on the right", "start_xy": [530, 670], "ang_err_namer_deg": 6.08820503041821, "ang_err_cycle_deg": 5.661219587961555, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "00554f79_seg1", "clip": "00554f79-37ab-5393-8214-d734fb2d1e44", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the turnout area on the side of the road.", "destination": "the turnout area on the side of the road", "start_xy": [490, 665], "ang_err_namer_deg": 2.7957995631952195, "ang_err_cycle_deg": 2.4748317425593704, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "00554f79_seg2", "clip": "00554f79-37ab-5393-8214-d734fb2d1e44", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the white truck towing a boat.", "destination": "white truck towing a boat", "start_xy": [415, 662], "ang_err_namer_deg": 3.9041345871633504, "ang_err_cycle_deg": 4.008510497745723, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "00554f79_seg3", "clip": "00554f79-37ab-5393-8214-d734fb2d1e44", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the white truck towing a boat.", "destination": "white truck towing a boat", "start_xy": [415, 662], "ang_err_namer_deg": 3.9041345871633504, "ang_err_cycle_deg": 4.008510497745723, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "00554f79_seg3", "clip": "00554f79-37ab-5393-8214-d734fb2d1e44", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/00/008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a.json b/labels/outdoor/00/008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a.json
index 0bb474bf4a5c1a01c98ee32909fd5d1c45c221ef..ee95a9685756174174fb0e64f16ea1e091de3c10 100644
--- a/labels/outdoor/00/008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a.json
+++ b/labels/outdoor/00/008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a.json
@@ -1 +1 @@
-[{"t0": 71, "t_end": 81, "instruction": "Go to the road signs.", "destination": "the road signs", "start_xy": [447, 622], "ang_err_namer_deg": 5.800599234702784, "ang_err_cycle_deg": 5.525166225717788, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "008d1b21_seg0", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}, {"t0": 59, "t_end": 69, "instruction": "Go to the area with the road signs.", "destination": "the area with the road signs", "start_xy": [787, 622], "ang_err_namer_deg": 5.58363970732714, "ang_err_cycle_deg": 20.73248257813574, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "008d1b21_seg1", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 57, "instruction": "Go to the yellow curve warning sign.", "destination": "the yellow curve warning sign", "start_xy": [794, 591], "ang_err_namer_deg": 5.852813070080586, "ang_err_cycle_deg": 5.852813070080586, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "008d1b21_seg2", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 36, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [873, 608], "ang_err_namer_deg": 1.6541548965278323, "ang_err_cycle_deg": 1.6541548965278323, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "008d1b21_seg3", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 57, "instruction": "Go to the yellow curve warning sign.", "destination": "the yellow curve warning sign", "start_xy": [794, 591], "ang_err_namer_deg": 5.852813070080586, "ang_err_cycle_deg": 5.852813070080586, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "008d1b21_seg2", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 36, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [873, 608], "ang_err_namer_deg": 1.6541548965278323, "ang_err_cycle_deg": 1.6541548965278323, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "008d1b21_seg3", "clip": "008d1b21-73b8-5bc2-9bc9-b67bdebc9e7a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/00/00c214a8-1b7e-5e6e-9dab-14789600a31b.json b/labels/outdoor/00/00c214a8-1b7e-5e6e-9dab-14789600a31b.json
index da32e96590d99a3f8f2d03ee372ffcfad889406b..5483c36a6104f6ac6eccb3218f9b436f57b76db8 100644
--- a/labels/outdoor/00/00c214a8-1b7e-5e6e-9dab-14789600a31b.json
+++ b/labels/outdoor/00/00c214a8-1b7e-5e6e-9dab-14789600a31b.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 87, "instruction": "Go to the parking sign.", "destination": "parking sign", "start_xy": [490, 515], "ang_err_namer_deg": 4.691854797257338, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "00c214a8_seg0", "clip": "00c214a8-1b7e-5e6e-9dab-14789600a31b", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 47, "instruction": "Go to the area of road near the dense trees.", "destination": "the area of road near the dense trees", "start_xy": [483, 743], "ang_err_namer_deg": 3.03933070103502, "ang_err_cycle_deg": 3.1485810407249524, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "00c214a8_seg1", "clip": "00c214a8-1b7e-5e6e-9dab-14789600a31b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 47, "instruction": "Go to the area of road near the dense trees.", "destination": "the area of road near the dense trees", "start_xy": [483, 743], "ang_err_namer_deg": 3.03933070103502, "ang_err_cycle_deg": 3.1485810407249524, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "00c214a8_seg1", "clip": "00c214a8-1b7e-5e6e-9dab-14789600a31b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/02/0207f61e-dc03-58f3-89de-1e539f439a4a.json b/labels/outdoor/02/0207f61e-dc03-58f3-89de-1e539f439a4a.json
index bcbc8cad325d479d3d7e1ceee5657e1424b982fa..5a789f2188654ae6d7ff42356e5b73e93d587007 100644
--- a/labels/outdoor/02/0207f61e-dc03-58f3-89de-1e539f439a4a.json
+++ b/labels/outdoor/02/0207f61e-dc03-58f3-89de-1e539f439a4a.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the white building on the right side of the road.", "destination": "the white building on the right", "start_xy": [516, 558], "ang_err_namer_deg": 1.6084419329229414, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "0207f61e_seg0", "clip": "0207f61e-dc03-58f3-89de-1e539f439a4a", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the motorcycle parked by the guardrail.", "destination": "the motorcycle parked by the guardrail", "start_xy": [510, 703], "ang_err_namer_deg": 8.361233753379267, "ang_err_cycle_deg": 8.361233753379267, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "0207f61e_seg1", "clip": "0207f61e-dc03-58f3-89de-1e539f439a4a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the large sign on the right.", "destination": "the large sign on the right", "start_xy": [765, 489], "ang_err_namer_deg": 11.562489715818824, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0207f61e_seg2", "clip": "0207f61e-dc03-58f3-89de-1e539f439a4a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the motorcycle parked by the guardrail.", "destination": "the motorcycle parked by the guardrail", "start_xy": [510, 703], "ang_err_namer_deg": 8.361233753379267, "ang_err_cycle_deg": 8.361233753379267, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "0207f61e_seg1", "clip": "0207f61e-dc03-58f3-89de-1e539f439a4a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/02/0226c4cd-8544-5fae-a855-a51ffc175ad9.json b/labels/outdoor/02/0226c4cd-8544-5fae-a855-a51ffc175ad9.json
index c42859b39616994c38e14d232db873abc1490add..0f7c05af174671df83d5843b4042f75985d4a1fb 100644
--- a/labels/outdoor/02/0226c4cd-8544-5fae-a855-a51ffc175ad9.json
+++ b/labels/outdoor/02/0226c4cd-8544-5fae-a855-a51ffc175ad9.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the intersection near the red bus.", "destination": "the intersection near the red bus", "start_xy": [482, 578], "ang_err_namer_deg": 11.87496021728625, "ang_err_cycle_deg": 3.6213399000227544, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "0226c4cd_seg0", "clip": "0226c4cd-8544-5fae-a855-a51ffc175ad9", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the Waterloo train station.", "destination": "Waterloo train station", "start_xy": [178, 506], "ang_err_namer_deg": 4.931099964139834, "ang_err_cycle_deg": 3.6479932659992644, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "0226c4cd_seg1", "clip": "0226c4cd-8544-5fae-a855-a51ffc175ad9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the intersection near the red bus.", "destination": "the intersection near the red bus", "start_xy": [482, 578], "ang_err_namer_deg": 11.87496021728625, "ang_err_cycle_deg": 3.6213399000227544, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "0226c4cd_seg0", "clip": "0226c4cd-8544-5fae-a855-a51ffc175ad9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/02/02330075-08c2-5eff-98fb-a5788e0abb5f.json b/labels/outdoor/02/02330075-08c2-5eff-98fb-a5788e0abb5f.json
index 45789be939520a47299c9a100ccad8aff3a3544b..81fd478660e7a4ea6bd898ee7381984fbfe2630c 100644
--- a/labels/outdoor/02/02330075-08c2-5eff-98fb-a5788e0abb5f.json
+++ b/labels/outdoor/02/02330075-08c2-5eff-98fb-a5788e0abb5f.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the stretch of highway.", "destination": "the stretch of highway", "start_xy": [500, 700], "ang_err_namer_deg": 4.324652826160975, "ang_err_cycle_deg": 5.21679632824935, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "02330075_seg0", "clip": "02330075-08c2-5eff-98fb-a5788e0abb5f", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the truck.", "destination": "the truck", "start_xy": [501, 688], "ang_err_namer_deg": 8.00474672995602, "ang_err_cycle_deg": 8.00474672995602, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "02330075_seg1", "clip": "02330075-08c2-5eff-98fb-a5788e0abb5f", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area with the traffic barrels on the side of the road.", "destination": "the traffic barrels", "start_xy": [605, 750], "ang_err_namer_deg": 11.241979488004215, "ang_err_cycle_deg": 11.241979488004215, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "02330075_seg2", "clip": "02330075-08c2-5eff-98fb-a5788e0abb5f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the stretch of highway.", "destination": "the stretch of highway", "start_xy": [500, 700], "ang_err_namer_deg": 4.324652826160975, "ang_err_cycle_deg": 5.21679632824935, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "02330075_seg0", "clip": "02330075-08c2-5eff-98fb-a5788e0abb5f", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area with the traffic barrels on the side of the road.", "destination": "the traffic barrels", "start_xy": [605, 750], "ang_err_namer_deg": 11.241979488004215, "ang_err_cycle_deg": 11.241979488004215, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "02330075_seg2", "clip": "02330075-08c2-5eff-98fb-a5788e0abb5f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/02/025cb89d-c5c6-5b66-a42c-f288226acff1.json b/labels/outdoor/02/025cb89d-c5c6-5b66-a42c-f288226acff1.json
index af896e449586f81b0aed12ce40797cfac8cf36fa..bbe6651004c58d9eb2f9a38124a3257bcbae0de2 100644
--- a/labels/outdoor/02/025cb89d-c5c6-5b66-a42c-f288226acff1.json
+++ b/labels/outdoor/02/025cb89d-c5c6-5b66-a42c-f288226acff1.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the sign on the right side of the road.", "destination": "the sign on the right side of the road", "start_xy": [462, 697], "ang_err_namer_deg": 1.1181402427710094, "ang_err_cycle_deg": 11.337229509651262, "confidence": "A", "arrival_ok": true, "duration_s": 3.486197721550006, "tier": "M", "id": "025cb89d_seg0", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with trees and forest.", "destination": "the area with trees and forest", "start_xy": [484, 482], "ang_err_namer_deg": 2.551808376437473, "ang_err_cycle_deg": 14.844985615122845, "confidence": "A", "arrival_ok": true, "duration_s": 6.421943171276327, "tier": "L", "id": "025cb89d_seg1", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the white road marker post on the left side of the road.", "destination": "the white road marker post on the left", "start_xy": [409, 757], "ang_err_namer_deg": 6.8147760335195535, "ang_err_cycle_deg": 6.8147760335195535, "confidence": "A", "arrival_ok": true, "duration_s": 1.8348409060789506, "tier": "S", "id": "025cb89d_seg2", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the end of the visible stretch of road leading into the mountains.", "destination": "the end of the visible stretch of road", "start_xy": [557, 757], "ang_err_namer_deg": 2.118057815089164, "ang_err_cycle_deg": 2.314626203992028, "confidence": "B", "arrival_ok": false, "duration_s": 1.8348409060789506, "tier": "S", "id": "025cb89d_seg3", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the sign on the right side of the road.", "destination": "the sign on the right side of the road", "start_xy": [462, 697], "ang_err_namer_deg": 1.1181402427710094, "ang_err_cycle_deg": 11.337229509651262, "confidence": "A", "arrival_ok": true, "duration_s": 3.486197721550006, "tier": "M", "id": "025cb89d_seg0", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with trees and forest.", "destination": "the area with trees and forest", "start_xy": [484, 482], "ang_err_namer_deg": 2.551808376437473, "ang_err_cycle_deg": 14.844985615122845, "confidence": "A", "arrival_ok": true, "duration_s": 6.421943171276327, "tier": "L", "id": "025cb89d_seg1", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the white road marker post on the left side of the road.", "destination": "the white road marker post on the left", "start_xy": [409, 757], "ang_err_namer_deg": 6.8147760335195535, "ang_err_cycle_deg": 6.8147760335195535, "confidence": "A", "arrival_ok": true, "duration_s": 1.8348409060789506, "tier": "S", "id": "025cb89d_seg2", "clip": "025cb89d-c5c6-5b66-a42c-f288226acff1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/02/02d2a67d-7ed1-5d76-8bb3-a467b3c989af.json b/labels/outdoor/02/02d2a67d-7ed1-5d76-8bb3-a467b3c989af.json
index 58e31434118eb94f2f57a22c638dfe9c5d0b7254..d423d7ca7fc1450b6496c47541310fccc89af94c 100644
--- a/labels/outdoor/02/02d2a67d-7ed1-5d76-8bb3-a467b3c989af.json
+++ b/labels/outdoor/02/02d2a67d-7ed1-5d76-8bb3-a467b3c989af.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the tunnel.", "destination": "tunnel", "start_xy": [485, 662], "ang_err_namer_deg": 7.737763619665213, "ang_err_cycle_deg": 0.16170499312255301, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "02d2a67d_seg0", "clip": "02d2a67d-7ed1-5d76-8bb3-a467b3c989af", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the intersection with the white building.", "destination": "the area by the intersection with the white building", "start_xy": [485, 597], "ang_err_namer_deg": 12.43704233885579, "ang_err_cycle_deg": 1.0224172606649489, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "02d2a67d_seg1", "clip": "02d2a67d-7ed1-5d76-8bb3-a467b3c989af", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the gas station.", "destination": "the gas station", "start_xy": [454, 622], "ang_err_namer_deg": 7.637314688369664, "ang_err_cycle_deg": 1.9026376000747194, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "02d2a67d_seg2", "clip": "02d2a67d-7ed1-5d76-8bb3-a467b3c989af", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the area by the intersection with the white building.", "destination": "the area by the intersection with the white building", "start_xy": [485, 597], "ang_err_namer_deg": 12.43704233885579, "ang_err_cycle_deg": 1.0224172606649489, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "02d2a67d_seg1", "clip": "02d2a67d-7ed1-5d76-8bb3-a467b3c989af", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/03/03d3e366-63cb-551f-b9ae-b014eb610263.json b/labels/outdoor/03/03d3e366-63cb-551f-b9ae-b014eb610263.json
index 269cca7557717976e9e1d227981972d69c9c10a6..9b3266700363bbe7b8e31bdb9ec76c6c51504ecb 100644
--- a/labels/outdoor/03/03d3e366-63cb-551f-b9ae-b014eb610263.json
+++ b/labels/outdoor/03/03d3e366-63cb-551f-b9ae-b014eb610263.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the red truck.", "destination": "red truck", "start_xy": [427, 673], "ang_err_namer_deg": 13.62964101080659, "ang_err_cycle_deg": 14.099350277415315, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "03d3e366_seg0", "clip": "03d3e366-63cb-551f-b9ae-b014eb610263", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the large rectangular sign by the roadside.", "destination": "the large rectangular sign", "start_xy": [297, 648], "ang_err_namer_deg": 3.8495859397487444, "ang_err_cycle_deg": 4.871629245449223, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "03d3e366_seg1", "clip": "03d3e366-63cb-551f-b9ae-b014eb610263", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the large rectangular sign by the roadside.", "destination": "the large rectangular sign", "start_xy": [297, 648], "ang_err_namer_deg": 3.8495859397487444, "ang_err_cycle_deg": 4.871629245449223, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "03d3e366_seg1", "clip": "03d3e366-63cb-551f-b9ae-b014eb610263", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/04/0438cd16-4be6-5b70-b214-a6e54e4b0bd1.json b/labels/outdoor/04/0438cd16-4be6-5b70-b214-a6e54e4b0bd1.json
index 3e4f454752c4b5742ba13e99280dd5047179e336..00faca4018c98ffc5b8b7e1730c7f861608807af 100644
--- a/labels/outdoor/04/0438cd16-4be6-5b70-b214-a6e54e4b0bd1.json
+++ b/labels/outdoor/04/0438cd16-4be6-5b70-b214-a6e54e4b0bd1.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the buildings in the distance.", "destination": "the buildings in the distance", "start_xy": [526, 612], "ang_err_namer_deg": 2.520071491125985, "ang_err_cycle_deg": 1.7013633127680474, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "0438cd16_seg0", "clip": "0438cd16-4be6-5b70-b214-a6e54e4b0bd1", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the wooden barn on the right.", "destination": "the wooden barn", "start_xy": [605, 622], "ang_err_namer_deg": 11.662656237942288, "ang_err_cycle_deg": 3.4347571661316207, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "0438cd16_seg1", "clip": "0438cd16-4be6-5b70-b214-a6e54e4b0bd1", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the grey shed.", "destination": "the grey shed", "start_xy": [757, 567], "ang_err_namer_deg": 7.757768806895535, "ang_err_cycle_deg": 4.458721950611052, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "0438cd16_seg2", "clip": "0438cd16-4be6-5b70-b214-a6e54e4b0bd1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the area by the grey shed.", "destination": "the grey shed", "start_xy": [757, 567], "ang_err_namer_deg": 7.757768806895535, "ang_err_cycle_deg": 4.458721950611052, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "0438cd16_seg2", "clip": "0438cd16-4be6-5b70-b214-a6e54e4b0bd1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/04/047152c0-1494-57c7-b920-4d7643cb16e4.json b/labels/outdoor/04/047152c0-1494-57c7-b920-4d7643cb16e4.json
index 29d0c14af66c6596d6e75fdb41a7cf01facc5d9f..42beb3f19f049848b8a20cbe913d59c0a60afc3b 100644
--- a/labels/outdoor/04/047152c0-1494-57c7-b920-4d7643cb16e4.json
+++ b/labels/outdoor/04/047152c0-1494-57c7-b920-4d7643cb16e4.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the blue Shun Song Road street sign on the right.", "destination": "the blue Shun Song Road street sign", "start_xy": [891, 546], "ang_err_namer_deg": 6.119587008273195, "ang_err_cycle_deg": 6.294279227732996, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "047152c0_seg0", "clip": "047152c0-1494-57c7-b920-4d7643cb16e4", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area in front of the Qilu Software Park entrance.", "destination": "the Qilu Software Park entrance", "start_xy": [420, 605], "ang_err_namer_deg": 11.82474934758249, "ang_err_cycle_deg": 9.370468558525264, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "047152c0_seg1", "clip": "047152c0-1494-57c7-b920-4d7643cb16e4", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area in front of the Qilu Software Park entrance.", "destination": "the Qilu Software Park entrance", "start_xy": [420, 605], "ang_err_namer_deg": 11.82474934758249, "ang_err_cycle_deg": 9.370468558525264, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "047152c0_seg1", "clip": "047152c0-1494-57c7-b920-4d7643cb16e4", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/04/048224c8-1a77-5f5d-b73a-94414ee62354.json b/labels/outdoor/04/048224c8-1a77-5f5d-b73a-94414ee62354.json
index 9de10d22f60de3ee69c8aa88ebde275cc35fef97..e34882f5c593046e03e8e4137699623c994445c6 100644
--- a/labels/outdoor/04/048224c8-1a77-5f5d-b73a-94414ee62354.json
+++ b/labels/outdoor/04/048224c8-1a77-5f5d-b73a-94414ee62354.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the white van parked on the side of the road.", "destination": "white van", "start_xy": [481, 661], "ang_err_namer_deg": 8.145200049952852, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "048224c8_seg0", "clip": "048224c8-1a77-5f5d-b73a-94414ee62354", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area of the road where the trees hang over.", "destination": "the area of the road where the trees hang over", "start_xy": [750, 700], "ang_err_namer_deg": 12.487356381610804, "ang_err_cycle_deg": 7.141309774705023, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "048224c8_seg1", "clip": "048224c8-1a77-5f5d-b73a-94414ee62354", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area of the road where the trees hang over.", "destination": "the area of the road where the trees hang over", "start_xy": [750, 700], "ang_err_namer_deg": 12.487356381610804, "ang_err_cycle_deg": 7.141309774705023, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "048224c8_seg1", "clip": "048224c8-1a77-5f5d-b73a-94414ee62354", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/04/04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2.json b/labels/outdoor/04/04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2.json
index 701b787a5558e23a059370c97d41995ab85600d8..dd5623a4bcda9287eb33ef27a201a58c5ad3043e 100644
--- a/labels/outdoor/04/04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2.json
+++ b/labels/outdoor/04/04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2.json
@@ -1 +1 @@
-[{"t0": 40, "t_end": 71, "instruction": "Go to the silver car parked on the side of the road.", "destination": "the silver car parked on the side of the road", "start_xy": [883, 687], "ang_err_namer_deg": 2.742745002944392, "ang_err_cycle_deg": 2.6847217404491173, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016666666666, "tier": "L", "id": "04d2cd2b_seg0", "clip": "04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 38, "instruction": "Go to the area along the rock wall with yellow safety signs.", "destination": "the area along the rock wall with yellow safety signs", "start_xy": [487, 786], "ang_err_namer_deg": 12.911609299821722, "ang_err_cycle_deg": 4.551865797016206, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "04d2cd2b_seg1", "clip": "04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 38, "instruction": "Go to the area along the rock wall with yellow safety signs.", "destination": "the area along the rock wall with yellow safety signs", "start_xy": [487, 786], "ang_err_namer_deg": 12.911609299821722, "ang_err_cycle_deg": 4.551865797016206, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "04d2cd2b_seg1", "clip": "04d2cd2b-6f1c-5f16-9dc3-2227fcd30ad2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/05/0540b1e2-9921-5a5b-bf98-e8098302a26a.json b/labels/outdoor/05/0540b1e2-9921-5a5b-bf98-e8098302a26a.json
index 9a9db47b789d5ed9567d127c5785ba31ecb89363..610068d65bd3872c63bf7dba0705537af1416c44 100644
--- a/labels/outdoor/05/0540b1e2-9921-5a5b-bf98-e8098302a26a.json
+++ b/labels/outdoor/05/0540b1e2-9921-5a5b-bf98-e8098302a26a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the bike share station.", "destination": "bike share station", "start_xy": [285, 718], "ang_err_namer_deg": 12.155271133829565, "ang_err_cycle_deg": 19.382718465625533, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0540b1e2_seg0", "clip": "0540b1e2-9921-5a5b-bf98-e8098302a26a", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the intersection crosswalk.", "destination": "the intersection crosswalk", "start_xy": [485, 662], "ang_err_namer_deg": 11.08900937812814, "ang_err_cycle_deg": 8.765753349969437, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "0540b1e2_seg1", "clip": "0540b1e2-9921-5a5b-bf98-e8098302a26a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the yellow trash cans and the building entrance.", "destination": "the area by the yellow trash cans and the building entrance", "start_xy": [450, 600], "ang_err_namer_deg": 11.553999970513711, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "0540b1e2_seg2", "clip": "0540b1e2-9921-5a5b-bf98-e8098302a26a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the intersection crosswalk.", "destination": "the intersection crosswalk", "start_xy": [485, 662], "ang_err_namer_deg": 11.08900937812814, "ang_err_cycle_deg": 8.765753349969437, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "0540b1e2_seg1", "clip": "0540b1e2-9921-5a5b-bf98-e8098302a26a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/05/05abff5a-4f16-5b78-ba9a-ac750f10033c.json b/labels/outdoor/05/05abff5a-4f16-5b78-ba9a-ac750f10033c.json
index c061d82fe1468ebb6769ffabb9c28cc5b55f8c16..165f8477b5ca0d897b57517f5e7c8196778b3393 100644
--- a/labels/outdoor/05/05abff5a-4f16-5b78-ba9a-ac750f10033c.json
+++ b/labels/outdoor/05/05abff5a-4f16-5b78-ba9a-ac750f10033c.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area where the road curves right.", "destination": "the curve in the road", "start_xy": [490, 646], "ang_err_namer_deg": 0.2557202606459798, "ang_err_cycle_deg": 0.2791780137483112, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "05abff5a_seg0", "clip": "05abff5a-4f16-5b78-ba9a-ac750f10033c", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the wine tasting sign.", "destination": "wine tasting sign", "start_xy": [583, 725], "ang_err_namer_deg": 6.956315017056271, "ang_err_cycle_deg": 6.956315017056271, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "05abff5a_seg1", "clip": "05abff5a-4f16-5b78-ba9a-ac750f10033c", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area with the tall, slender cypress trees by the side of the road.", "destination": "the area with the tall, slender cypress trees", "start_xy": [448, 697], "ang_err_namer_deg": 6.1446878583114035, "ang_err_cycle_deg": 2.138931958392214, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "05abff5a_seg2", "clip": "05abff5a-4f16-5b78-ba9a-ac750f10033c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the area where the road curves right.", "destination": "the curve in the road", "start_xy": [490, 646], "ang_err_namer_deg": 0.2557202606459798, "ang_err_cycle_deg": 0.2791780137483112, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "05abff5a_seg0", "clip": "05abff5a-4f16-5b78-ba9a-ac750f10033c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/06/060236d9-c50c-51a1-be37-093551ce98f5.json b/labels/outdoor/06/060236d9-c50c-51a1-be37-093551ce98f5.json
index a835d22f4104a86737437f9dd8572a3114b6a1d0..c9cb53196261d670736e04afab19ed6e60df91ff 100644
--- a/labels/outdoor/06/060236d9-c50c-51a1-be37-093551ce98f5.json
+++ b/labels/outdoor/06/060236d9-c50c-51a1-be37-093551ce98f5.json
@@ -1 +1 @@
-[{"t0": 54, "t_end": 81, "instruction": "Go to the large overhead sign near the trees.", "destination": "the large overhead sign", "start_xy": [405, 506], "ang_err_namer_deg": 11.482707788427303, "ang_err_cycle_deg": 0.4806466732579407, "confidence": "A", "arrival_ok": true, "duration_s": 4.95495, "tier": "M", "id": "060236d9_seg0", "clip": "060236d9-c50c-51a1-be37-093551ce98f5", "source": "spatialvid_v3"}, {"t0": 7, "t_end": 42, "instruction": "Go to the G7 NIKKO sign by the lake.", "destination": "G7 NIKKO sign", "start_xy": [420, 720], "ang_err_namer_deg": 1.0856774747433013, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "060236d9_seg1", "clip": "060236d9-c50c-51a1-be37-093551ce98f5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 54, "t_end": 81, "instruction": "Go to the large overhead sign near the trees.", "destination": "the large overhead sign", "start_xy": [405, 506], "ang_err_namer_deg": 11.482707788427303, "ang_err_cycle_deg": 0.4806466732579407, "confidence": "A", "arrival_ok": true, "duration_s": 4.95495, "tier": "M", "id": "060236d9_seg0", "clip": "060236d9-c50c-51a1-be37-093551ce98f5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/07/07995671-608b-546c-bfa5-7f7cb4012bca.json b/labels/outdoor/07/07995671-608b-546c-bfa5-7f7cb4012bca.json
index f1ea031f5f0b18bce749c2b46fccdb5f3548ab77..8297160849122130e0829c6ec125314b373f05d5 100644
--- a/labels/outdoor/07/07995671-608b-546c-bfa5-7f7cb4012bca.json
+++ b/labels/outdoor/07/07995671-608b-546c-bfa5-7f7cb4012bca.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the person standing by the guardrail.", "destination": "person by the guardrail", "start_xy": [418, 591], "ang_err_namer_deg": 3.0417415464861572, "ang_err_cycle_deg": 3.0417415464861572, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "07995671_seg0", "clip": "07995671-608b-546c-bfa5-7f7cb4012bca", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area with parked cars along the road.", "destination": "the area with parked cars along the road", "start_xy": [922, 724], "ang_err_namer_deg": 3.3678202898115255, "ang_err_cycle_deg": 3.2775480957306713, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "07995671_seg1", "clip": "07995671-608b-546c-bfa5-7f7cb4012bca", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area with parked cars along the road.", "destination": "the area with parked cars along the road", "start_xy": [922, 724], "ang_err_namer_deg": 3.3678202898115255, "ang_err_cycle_deg": 3.2775480957306713, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "07995671_seg1", "clip": "07995671-608b-546c-bfa5-7f7cb4012bca", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/07/07e5fa8e-48fe-54de-ba0c-b70eca4ecebc.json b/labels/outdoor/07/07e5fa8e-48fe-54de-ba0c-b70eca4ecebc.json
index 9cc9da406abc827ab359f196525a5b65dcfd8ec1..7333a15f7474d22b66915e6c11562f02461c62ec 100644
--- a/labels/outdoor/07/07e5fa8e-48fe-54de-ba0c-b70eca4ecebc.json
+++ b/labels/outdoor/07/07e5fa8e-48fe-54de-ba0c-b70eca4ecebc.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the end of the tunnel.", "destination": "the end of the tunnel", "start_xy": [506, 558], "ang_err_namer_deg": 0.17254461829165257, "ang_err_cycle_deg": 1.8364818668906175, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "07e5fa8e_seg0", "clip": "07e5fa8e-48fe-54de-ba0c-b70eca4ecebc", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the end of the tunnel.", "destination": "the end of the tunnel", "start_xy": [358, 668], "ang_err_namer_deg": 0.06418276445258914, "ang_err_cycle_deg": 2.0851772302258778, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "07e5fa8e_seg1", "clip": "07e5fa8e-48fe-54de-ba0c-b70eca4ecebc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the end of the tunnel.", "destination": "the end of the tunnel", "start_xy": [506, 558], "ang_err_namer_deg": 0.17254461829165257, "ang_err_cycle_deg": 1.8364818668906175, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "07e5fa8e_seg0", "clip": "07e5fa8e-48fe-54de-ba0c-b70eca4ecebc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/08/08256a56-3be9-5d15-8af5-97103f1b6a94.json b/labels/outdoor/08/08256a56-3be9-5d15-8af5-97103f1b6a94.json
index 6890477157152b29beadf9ea9971dbb1e05656c3..a897fcc80ec78d435d45aca6f8fb850403208114 100644
--- a/labels/outdoor/08/08256a56-3be9-5d15-8af5-97103f1b6a94.json
+++ b/labels/outdoor/08/08256a56-3be9-5d15-8af5-97103f1b6a94.json
@@ -1 +1 @@
-[{"t0": 18, "t_end": 37, "instruction": "Go to the concrete barrier.", "destination": "concrete barrier", "start_xy": [393, 745], "ang_err_namer_deg": 9.031486909411548, "ang_err_cycle_deg": 21.351220861312598, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "08256a56_seg0", "clip": "08256a56-3be9-5d15-8af5-97103f1b6a94", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 16, "instruction": "Go to the area along the rocky cliff face.", "destination": "the rocky cliff face", "start_xy": [800, 500], "ang_err_namer_deg": 10.510227224329078, "ang_err_cycle_deg": 11.556382671214674, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "08256a56_seg1", "clip": "08256a56-3be9-5d15-8af5-97103f1b6a94", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 16, "instruction": "Go to the area along the rocky cliff face.", "destination": "the rocky cliff face", "start_xy": [800, 500], "ang_err_namer_deg": 10.510227224329078, "ang_err_cycle_deg": 11.556382671214674, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "08256a56_seg1", "clip": "08256a56-3be9-5d15-8af5-97103f1b6a94", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/08/08c8c0a7-eef7-507c-8ed6-5ed162eba16e.json b/labels/outdoor/08/08c8c0a7-eef7-507c-8ed6-5ed162eba16e.json
index 0600656e74fa61f09c43bf4c6eca766b07ef4d9f..5abcf462b8d94f0b4b6157a405135c75d7724f63 100644
--- a/labels/outdoor/08/08c8c0a7-eef7-507c-8ed6-5ed162eba16e.json
+++ b/labels/outdoor/08/08c8c0a7-eef7-507c-8ed6-5ed162eba16e.json
@@ -1 +1 @@
-[{"t0": 22, "t_end": 54, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [427, 661], "ang_err_namer_deg": 2.1145632061547266, "ang_err_cycle_deg": 2.1145632061547266, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "08c8c0a7_seg0", "clip": "08c8c0a7-eef7-507c-8ed6-5ed162eba16e", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the area by the utility pole on the left side of the road.", "destination": "the utility pole on the left", "start_xy": [371, 623], "ang_err_namer_deg": 10.388919016227149, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "08c8c0a7_seg1", "clip": "08c8c0a7-eef7-507c-8ed6-5ed162eba16e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 22, "t_end": 54, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [427, 661], "ang_err_namer_deg": 2.1145632061547266, "ang_err_cycle_deg": 2.1145632061547266, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "08c8c0a7_seg0", "clip": "08c8c0a7-eef7-507c-8ed6-5ed162eba16e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/08/08cab2c9-d8dc-5826-9b92-186ba7d6aad0.json b/labels/outdoor/08/08cab2c9-d8dc-5826-9b92-186ba7d6aad0.json
index 1f2a9675cbc7ab65abe6b736d5e17d3349e6c29b..7489bf2792bb9c753586030a4caa861008702e52 100644
--- a/labels/outdoor/08/08cab2c9-d8dc-5826-9b92-186ba7d6aad0.json
+++ b/labels/outdoor/08/08cab2c9-d8dc-5826-9b92-186ba7d6aad0.json
@@ -1 +1 @@
-[{"t0": 45, "t_end": 79, "instruction": "Go to the wooden bridge.", "destination": "the wooden bridge", "start_xy": [490, 600], "ang_err_namer_deg": 0.16773248238105032, "ang_err_cycle_deg": 0.21697376963781617, "confidence": "A", "arrival_ok": true, "duration_s": 6.3813749999999985, "tier": "L", "id": "08cab2c9_seg0", "clip": "08cab2c9-d8dc-5826-9b92-186ba7d6aad0", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 43, "instruction": "Go to the wooden bridge.", "destination": "wooden bridge", "start_xy": [444, 571], "ang_err_namer_deg": 0.5140324687741958, "ang_err_cycle_deg": 0.5140324687741958, "confidence": "B", "arrival_ok": false, "duration_s": 3.3783749999999992, "tier": "M", "id": "08cab2c9_seg1", "clip": "08cab2c9-d8dc-5826-9b92-186ba7d6aad0", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the end of the path.", "destination": "the end of the path", "start_xy": [476, 668], "ang_err_namer_deg": 0.3382572400544661, "ang_err_cycle_deg": 0.06744371190004518, "confidence": "B", "arrival_ok": false, "duration_s": 1.8768749999999996, "tier": "S", "id": "08cab2c9_seg2", "clip": "08cab2c9-d8dc-5826-9b92-186ba7d6aad0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 45, "t_end": 79, "instruction": "Go to the wooden bridge.", "destination": "the wooden bridge", "start_xy": [490, 600], "ang_err_namer_deg": 0.16773248238105032, "ang_err_cycle_deg": 0.21697376963781617, "confidence": "A", "arrival_ok": true, "duration_s": 6.3813749999999985, "tier": "L", "id": "08cab2c9_seg0", "clip": "08cab2c9-d8dc-5826-9b92-186ba7d6aad0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0a/0a42bf17-dc7d-5659-bb2d-39753c07a05a.json b/labels/outdoor/0a/0a42bf17-dc7d-5659-bb2d-39753c07a05a.json
index 2185dba494aab2d6cb9f85cf7e2581145dbcf75d..c52ae3e1bd4e27229c4065edc688017179ed4f55 100644
--- a/labels/outdoor/0a/0a42bf17-dc7d-5659-bb2d-39753c07a05a.json
+++ b/labels/outdoor/0a/0a42bf17-dc7d-5659-bb2d-39753c07a05a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the ANAS altitude sign.", "destination": "the ANAS altitude sign", "start_xy": [545, 551], "ang_err_namer_deg": 13.622136902903971, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a42bf17_seg0", "clip": "0a42bf17-dc7d-5659-bb2d-39753c07a05a", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the orange traffic barrier at the intersection.", "destination": "orange traffic barrier", "start_xy": [395, 527], "ang_err_namer_deg": 0.7845071034334337, "ang_err_cycle_deg": 2.5745624725735388, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a42bf17_seg1", "clip": "0a42bf17-dc7d-5659-bb2d-39753c07a05a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the orange traffic barrier at the intersection.", "destination": "orange traffic barrier", "start_xy": [395, 527], "ang_err_namer_deg": 0.7845071034334337, "ang_err_cycle_deg": 2.5745624725735388, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a42bf17_seg1", "clip": "0a42bf17-dc7d-5659-bb2d-39753c07a05a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0a/0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64.json b/labels/outdoor/0a/0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64.json
index 69c2c1adce4045de9f358c8d3e6af0ca7f4d804e..aafb09f8d5f5a31bd0be8ec4ea98e1769ca36bce 100644
--- a/labels/outdoor/0a/0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64.json
+++ b/labels/outdoor/0a/0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the small shed by the tracks.", "destination": "the small shed", "start_xy": [405, 558], "ang_err_namer_deg": 8.025001022050224, "ang_err_cycle_deg": 5.750410645974725, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0a4f1e11_seg0", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the metal utility pole standing by the tracks.", "destination": "the metal utility pole", "start_xy": [484, 551], "ang_err_namer_deg": 5.863157551686121, "ang_err_cycle_deg": 5.545700241216649, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "0a4f1e11_seg1", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 39, "instruction": "Go to the area of the track along the forest.", "destination": "the track along the forest", "start_xy": [500, 700], "ang_err_namer_deg": 10.679798546410339, "ang_err_cycle_deg": 2.891860476357809, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0a4f1e11_seg2", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [512, 483], "ang_err_namer_deg": 3.6461668429220606, "ang_err_cycle_deg": 3.6461668429220606, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692333333333335, "tier": "S", "id": "0a4f1e11_seg3", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the small shed by the tracks.", "destination": "the small shed", "start_xy": [405, 558], "ang_err_namer_deg": 8.025001022050224, "ang_err_cycle_deg": 5.750410645974725, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0a4f1e11_seg0", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 39, "instruction": "Go to the area of the track along the forest.", "destination": "the track along the forest", "start_xy": [500, 700], "ang_err_namer_deg": 10.679798546410339, "ang_err_cycle_deg": 2.891860476357809, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0a4f1e11_seg2", "clip": "0a4f1e11-7ffc-5c1e-b1d2-4310d6b34d64", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0a/0a940457-7ae5-564e-8a04-8489a14282f7.json b/labels/outdoor/0a/0a940457-7ae5-564e-8a04-8489a14282f7.json
index 3f916ca35a0984d323d3314df9b4027e0ca3271b..4549a8148546fa1fc3ef5613ba51778ae5093688 100644
--- a/labels/outdoor/0a/0a940457-7ae5-564e-8a04-8489a14282f7.json
+++ b/labels/outdoor/0a/0a940457-7ae5-564e-8a04-8489a14282f7.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the intersection marked with the blue street sign.", "destination": "the intersection with the blue street sign", "start_xy": [484, 664], "ang_err_namer_deg": 5.052368952336252, "ang_err_cycle_deg": 4.234608518966731, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a940457_seg0", "clip": "0a940457-7ae5-564e-8a04-8489a14282f7", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the intersection under the overpass.", "destination": "the intersection under the overpass", "start_xy": [750, 650], "ang_err_namer_deg": 4.999892336145784, "ang_err_cycle_deg": 0.09537322804241946, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a940457_seg1", "clip": "0a940457-7ae5-564e-8a04-8489a14282f7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the intersection under the overpass.", "destination": "the intersection under the overpass", "start_xy": [750, 650], "ang_err_namer_deg": 4.999892336145784, "ang_err_cycle_deg": 0.09537322804241946, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0a940457_seg1", "clip": "0a940457-7ae5-564e-8a04-8489a14282f7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0a/0aca68fd-3a7d-516e-9cd2-a560418b36c2.json b/labels/outdoor/0a/0aca68fd-3a7d-516e-9cd2-a560418b36c2.json
index b187c2fcb3e101c46418cf854947fa300a18a167..baabb133f665e71cb37085a7a5c8db112e325300 100644
--- a/labels/outdoor/0a/0aca68fd-3a7d-516e-9cd2-a560418b36c2.json
+++ b/labels/outdoor/0a/0aca68fd-3a7d-516e-9cd2-a560418b36c2.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the metal fence and the small concrete building.", "destination": "the area by the metal fence and the small concrete building", "start_xy": [450, 700], "ang_err_namer_deg": 12.590139606937894, "ang_err_cycle_deg": 1.1882625002173057, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "0aca68fd_seg0", "clip": "0aca68fd-3a7d-516e-9cd2-a560418b36c2", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [481, 574], "ang_err_namer_deg": 8.934178939579867, "ang_err_cycle_deg": 2.155708279897271, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0aca68fd_seg1", "clip": "0aca68fd-3a7d-516e-9cd2-a560418b36c2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the Daihatsu Nishi-Izu Service sign.", "destination": "the Daihatsu Nishi-Izu Service sign", "start_xy": [627, 662], "ang_err_namer_deg": 7.929626971124893, "ang_err_cycle_deg": 9.293816649742629, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "0aca68fd_seg2", "clip": "0aca68fd-3a7d-516e-9cd2-a560418b36c2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [481, 574], "ang_err_namer_deg": 8.934178939579867, "ang_err_cycle_deg": 2.155708279897271, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0aca68fd_seg1", "clip": "0aca68fd-3a7d-516e-9cd2-a560418b36c2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the Daihatsu Nishi-Izu Service sign.", "destination": "the Daihatsu Nishi-Izu Service sign", "start_xy": [627, 662], "ang_err_namer_deg": 7.929626971124893, "ang_err_cycle_deg": 9.293816649742629, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "0aca68fd_seg2", "clip": "0aca68fd-3a7d-516e-9cd2-a560418b36c2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0b/0b0875ba-17c1-557d-84eb-78719a333853.json b/labels/outdoor/0b/0b0875ba-17c1-557d-84eb-78719a333853.json
index 8d0705630f499765518d4dd7cab8e8c0b84cc9fd..fba871f5b8b67e475b43ae7fff0a067b2771ab68 100644
--- a/labels/outdoor/0b/0b0875ba-17c1-557d-84eb-78719a333853.json
+++ b/labels/outdoor/0b/0b0875ba-17c1-557d-84eb-78719a333853.json
@@ -1 +1 @@
-[{"t0": 35, "t_end": 49, "instruction": "Go to the orange traffic cone.", "destination": "the orange traffic cone", "start_xy": [230, 515], "ang_err_namer_deg": 6.3210107508006, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "0b0875ba_seg0", "clip": "0b0875ba-17c1-557d-84eb-78719a333853", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 33, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [515, 605], "ang_err_namer_deg": 12.310957335551254, "ang_err_cycle_deg": 12.545683031816658, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "0b0875ba_seg1", "clip": "0b0875ba-17c1-557d-84eb-78719a333853", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 33, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [515, 605], "ang_err_namer_deg": 12.310957335551254, "ang_err_cycle_deg": 12.545683031816658, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "0b0875ba_seg1", "clip": "0b0875ba-17c1-557d-84eb-78719a333853", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0b/0b9fc550-ce48-5553-a9c7-d3e14564278c.json b/labels/outdoor/0b/0b9fc550-ce48-5553-a9c7-d3e14564278c.json
index 9fac5186c91d48987dc94e88ba4076000ee06c78..b0e102981aba2df93f19c2c2f9ab5b7556cc2a88 100644
--- a/labels/outdoor/0b/0b9fc550-ce48-5553-a9c7-d3e14564278c.json
+++ b/labels/outdoor/0b/0b9fc550-ce48-5553-a9c7-d3e14564278c.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the road sign on the right side of the road.", "destination": "the road sign on the right side of the road", "start_xy": [637, 686], "ang_err_namer_deg": 9.745041386836695, "ang_err_cycle_deg": 9.548510797613549, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0b9fc550_seg0", "clip": "0b9fc550-ce48-5553-a9c7-d3e14564278c", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area by the road sign.", "destination": "the road sign", "start_xy": [465, 693], "ang_err_namer_deg": 1.9696801444943295, "ang_err_cycle_deg": 2.170858672600536, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0b9fc550_seg1", "clip": "0b9fc550-ce48-5553-a9c7-d3e14564278c", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the red car.", "destination": "the red car", "start_xy": [624, 700], "ang_err_namer_deg": 2.257516161965901, "ang_err_cycle_deg": 2.257516161965901, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "0b9fc550_seg2", "clip": "0b9fc550-ce48-5553-a9c7-d3e14564278c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the road sign on the right side of the road.", "destination": "the road sign on the right side of the road", "start_xy": [637, 686], "ang_err_namer_deg": 9.745041386836695, "ang_err_cycle_deg": 9.548510797613549, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0b9fc550_seg0", "clip": "0b9fc550-ce48-5553-a9c7-d3e14564278c", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area by the road sign.", "destination": "the road sign", "start_xy": [465, 693], "ang_err_namer_deg": 1.9696801444943295, "ang_err_cycle_deg": 2.170858672600536, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0b9fc550_seg1", "clip": "0b9fc550-ce48-5553-a9c7-d3e14564278c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0b/0bbfae84-b25f-5f44-86c7-463de94965aa.json b/labels/outdoor/0b/0bbfae84-b25f-5f44-86c7-463de94965aa.json
index 68fbef510a96878afeb2bf011690126dc2d83fe2..52b05da994d08fa584ced7c4c05f6beb2fc49ce0 100644
--- a/labels/outdoor/0b/0bbfae84-b25f-5f44-86c7-463de94965aa.json
+++ b/labels/outdoor/0b/0bbfae84-b25f-5f44-86c7-463de94965aa.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the metal guardrail.", "destination": "the metal guardrail", "start_xy": [315, 703], "ang_err_namer_deg": 12.869505345448552, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0bbfae84_seg0", "clip": "0bbfae84-b25f-5f44-86c7-463de94965aa", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the area by the road sign on the side of the road.", "destination": "the area by the road sign", "start_xy": [367, 662], "ang_err_namer_deg": 8.870523881681635, "ang_err_cycle_deg": 9.33159812398706, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "0bbfae84_seg1", "clip": "0bbfae84-b25f-5f44-86c7-463de94965aa", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 14, "t_end": 24, "instruction": "Go to the area by the road sign on the side of the road.", "destination": "the area by the road sign", "start_xy": [367, 662], "ang_err_namer_deg": 8.870523881681635, "ang_err_cycle_deg": 9.33159812398706, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "0bbfae84_seg1", "clip": "0bbfae84-b25f-5f44-86c7-463de94965aa", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0b/0bdec9cf-35c2-5a80-a470-f34fc24a5857.json b/labels/outdoor/0b/0bdec9cf-35c2-5a80-a470-f34fc24a5857.json
index cd47b9a24d48edf14f5d478b746771803fd61892..ab4f85832486587fb86ffd593ad5f25d63089ebc 100644
--- a/labels/outdoor/0b/0bdec9cf-35c2-5a80-a470-f34fc24a5857.json
+++ b/labels/outdoor/0b/0bdec9cf-35c2-5a80-a470-f34fc24a5857.json
@@ -1 +1 @@
-[{"t0": 53, "t_end": 74, "instruction": "Go to the large signboard.", "destination": "the large signboard", "start_xy": [269, 627], "ang_err_namer_deg": 10.573940102781977, "ang_err_cycle_deg": 10.368124522724731, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0bdec9cf_seg0", "clip": "0bdec9cf-35c2-5a80-a470-f34fc24a5857", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 51, "instruction": "Go to the brown car parked on the side of the road.", "destination": "the brown car", "start_xy": [284, 668], "ang_err_namer_deg": 3.4032561343243923, "ang_err_cycle_deg": 4.871094562689261, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "0bdec9cf_seg1", "clip": "0bdec9cf-35c2-5a80-a470-f34fc24a5857", "source": "spatialvid_v3"}, {"t0": 7, "t_end": 17, "instruction": "Go to the building in the distance.", "destination": "the building in the distance", "start_xy": [372, 550], "ang_err_namer_deg": 8.344004535351221, "ang_err_cycle_deg": 7.832903995103679, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "0bdec9cf_seg2", "clip": "0bdec9cf-35c2-5a80-a470-f34fc24a5857", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 53, "t_end": 74, "instruction": "Go to the large signboard.", "destination": "the large signboard", "start_xy": [269, 627], "ang_err_namer_deg": 10.573940102781977, "ang_err_cycle_deg": 10.368124522724731, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0bdec9cf_seg0", "clip": "0bdec9cf-35c2-5a80-a470-f34fc24a5857", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 51, "instruction": "Go to the brown car parked on the side of the road.", "destination": "the brown car", "start_xy": [284, 668], "ang_err_namer_deg": 3.4032561343243923, "ang_err_cycle_deg": 4.871094562689261, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "0bdec9cf_seg1", "clip": "0bdec9cf-35c2-5a80-a470-f34fc24a5857", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0c/0cb9d510-4320-5177-bea0-4ff447e5e4b6.json b/labels/outdoor/0c/0cb9d510-4320-5177-bea0-4ff447e5e4b6.json
index dfe5fc35f36e73a5493f90191fba66ce86443002..5c7c30ab101015a1c391e91ae691dd6f116be0dc 100644
--- a/labels/outdoor/0c/0cb9d510-4320-5177-bea0-4ff447e5e4b6.json
+++ b/labels/outdoor/0c/0cb9d510-4320-5177-bea0-4ff447e5e4b6.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the speed limit sign.", "destination": "the speed limit sign", "start_xy": [612, 535], "ang_err_namer_deg": 4.307205592074902, "ang_err_cycle_deg": 4.3836296129797745, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "0cb9d510_seg0", "clip": "0cb9d510-4320-5177-bea0-4ff447e5e4b6", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the road sign.", "destination": "the area by the road sign", "start_xy": [427, 634], "ang_err_namer_deg": 1.0745524584515536, "ang_err_cycle_deg": 1.0745524584515536, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0cb9d510_seg1", "clip": "0cb9d510-4320-5177-bea0-4ff447e5e4b6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area by the road sign.", "destination": "the area by the road sign", "start_xy": [427, 634], "ang_err_namer_deg": 1.0745524584515536, "ang_err_cycle_deg": 1.0745524584515536, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0cb9d510_seg1", "clip": "0cb9d510-4320-5177-bea0-4ff447e5e4b6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0c/0cc19b24-0741-52b0-9806-2f2ce99bbf42.json b/labels/outdoor/0c/0cc19b24-0741-52b0-9806-2f2ce99bbf42.json
index 61f25018481b017900b145e049657b20959124ef..e97d268bc550e48ae4a2db3178ad68dbd6fcf836 100644
--- a/labels/outdoor/0c/0cc19b24-0741-52b0-9806-2f2ce99bbf42.json
+++ b/labels/outdoor/0c/0cc19b24-0741-52b0-9806-2f2ce99bbf42.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the bare tree on the hillside.", "destination": "the bare tree on the hillside", "start_xy": [204, 38], "ang_err_namer_deg": 12.600665935224962, "ang_err_cycle_deg": 13.263316684399246, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0cc19b24_seg0", "clip": "0cc19b24-0741-52b0-9806-2f2ce99bbf42", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [650, 600], "ang_err_namer_deg": 8.209984826531361, "ang_err_cycle_deg": 9.904229099171692, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "0cc19b24_seg1", "clip": "0cc19b24-0741-52b0-9806-2f2ce99bbf42", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the bare tree on the hillside.", "destination": "the bare tree on the hillside", "start_xy": [204, 38], "ang_err_namer_deg": 12.600665935224962, "ang_err_cycle_deg": 13.263316684399246, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0cc19b24_seg0", "clip": "0cc19b24-0741-52b0-9806-2f2ce99bbf42", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0d/0d3ef617-919c-54d2-bb1b-8699afc4ff3d.json b/labels/outdoor/0d/0d3ef617-919c-54d2-bb1b-8699afc4ff3d.json
index e23640fa11ba9e99af3b5f08d38b2aa53c5aeff7..7a451bf2b83975a0ab97bc590cab1697d80e28bb 100644
--- a/labels/outdoor/0d/0d3ef617-919c-54d2-bb1b-8699afc4ff3d.json
+++ b/labels/outdoor/0d/0d3ef617-919c-54d2-bb1b-8699afc4ff3d.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the red truck.", "destination": "the red truck", "start_xy": [273, 622], "ang_err_namer_deg": 13.017553546703798, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "0d3ef617_seg0", "clip": "0d3ef617-919c-54d2-bb1b-8699afc4ff3d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the buildings on the hill.", "destination": "the buildings on the hill", "start_xy": [700, 340], "ang_err_namer_deg": 9.572622949438651, "ang_err_cycle_deg": 8.949443602223296, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "0d3ef617_seg1", "clip": "0d3ef617-919c-54d2-bb1b-8699afc4ff3d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the sign by the stone wall.", "destination": "the sign", "start_xy": [372, 625], "ang_err_namer_deg": 9.404466245863732, "ang_err_cycle_deg": 11.668098344326486, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0d3ef617_seg2", "clip": "0d3ef617-919c-54d2-bb1b-8699afc4ff3d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the sign by the stone wall.", "destination": "the sign", "start_xy": [372, 625], "ang_err_namer_deg": 9.404466245863732, "ang_err_cycle_deg": 11.668098344326486, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0d3ef617_seg2", "clip": "0d3ef617-919c-54d2-bb1b-8699afc4ff3d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0d/0d5fc84c-611e-56a1-9272-4438f9d95218.json b/labels/outdoor/0d/0d5fc84c-611e-56a1-9272-4438f9d95218.json
index dc5798fa46879c3f80fa4fcd2052980fbb1000e0..91536cd92a3a2823182ece6b7cb15b952309b4d2 100644
--- a/labels/outdoor/0d/0d5fc84c-611e-56a1-9272-4438f9d95218.json
+++ b/labels/outdoor/0d/0d5fc84c-611e-56a1-9272-4438f9d95218.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [622, 688], "ang_err_namer_deg": 4.847185587318879, "ang_err_cycle_deg": 2.115983722165007, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "0d5fc84c_seg0", "clip": "0d5fc84c-611e-56a1-9272-4438f9d95218", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the bus parked on the side of the road.", "destination": "the area by the bus parked on the side of the road", "start_xy": [492, 662], "ang_err_namer_deg": 3.585916568291963, "ang_err_cycle_deg": 4.2172274555002165, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0d5fc84c_seg1", "clip": "0d5fc84c-611e-56a1-9272-4438f9d95218", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area by the bus parked on the side of the road.", "destination": "the area by the bus parked on the side of the road", "start_xy": [492, 662], "ang_err_namer_deg": 3.585916568291963, "ang_err_cycle_deg": 4.2172274555002165, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0d5fc84c_seg1", "clip": "0d5fc84c-611e-56a1-9272-4438f9d95218", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0e/0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395.json b/labels/outdoor/0e/0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395.json
index c7a3d47df334312a197c5efc40943fc5fd9b4178..35e882574ba891be3b48d6ce7de4e8f0b7c077ce 100644
--- a/labels/outdoor/0e/0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395.json
+++ b/labels/outdoor/0e/0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the entrance of the driveway near the large tree.", "destination": "the entrance of the driveway near the large tree", "start_xy": [483, 558], "ang_err_namer_deg": 6.729214856820011, "ang_err_cycle_deg": 7.002499430552059, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "0e3754d1_seg0", "clip": "0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the building with the red roof.", "destination": "the building with the red roof", "start_xy": [484, 487], "ang_err_namer_deg": 3.9813700765747284, "ang_err_cycle_deg": 4.049689859412947, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "0e3754d1_seg1", "clip": "0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the bus stop.", "destination": "bus stop", "start_xy": [551, 570], "ang_err_namer_deg": 3.823165483980433, "ang_err_cycle_deg": 3.823165483980433, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "0e3754d1_seg2", "clip": "0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the entrance of the driveway near the large tree.", "destination": "the entrance of the driveway near the large tree", "start_xy": [483, 558], "ang_err_namer_deg": 6.729214856820011, "ang_err_cycle_deg": 7.002499430552059, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "0e3754d1_seg0", "clip": "0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the bus stop.", "destination": "bus stop", "start_xy": [551, 570], "ang_err_namer_deg": 3.823165483980433, "ang_err_cycle_deg": 3.823165483980433, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "0e3754d1_seg2", "clip": "0e3754d1-1d3c-52f2-8ca4-d4b55dbc9395", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0f007a80-9903-5092-9079-a70904654906.json b/labels/outdoor/0f/0f007a80-9903-5092-9079-a70904654906.json
index f9613a519a378609fa02042c54d7dddff4a564c6..7be35bf4b43b9e5410ac6f4124a1ab2540501507 100644
--- a/labels/outdoor/0f/0f007a80-9903-5092-9079-a70904654906.json
+++ b/labels/outdoor/0f/0f007a80-9903-5092-9079-a70904654906.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the vehicle parked on the side of the road.", "destination": "the parked vehicle", "start_xy": [698, 640], "ang_err_namer_deg": 12.52340809684588, "ang_err_cycle_deg": 12.451395519987, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "0f007a80_seg0", "clip": "0f007a80-9903-5092-9079-a70904654906", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the side road pull-off area.", "destination": "the side road pull-off area", "start_xy": [485, 767], "ang_err_namer_deg": 10.701198488333473, "ang_err_cycle_deg": 10.470016455842114, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0f007a80_seg1", "clip": "0f007a80-9903-5092-9079-a70904654906", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the area of the road where it curves near the forest.", "destination": "the area of the road where it curves near the forest", "start_xy": [483, 709], "ang_err_namer_deg": 0.42783012953258076, "ang_err_cycle_deg": 3.8719309050662964, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0f007a80_seg2", "clip": "0f007a80-9903-5092-9079-a70904654906", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 41, "t_end": 60, "instruction": "Go to the side road pull-off area.", "destination": "the side road pull-off area", "start_xy": [485, 767], "ang_err_namer_deg": 10.701198488333473, "ang_err_cycle_deg": 10.470016455842114, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "0f007a80_seg1", "clip": "0f007a80-9903-5092-9079-a70904654906", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the area of the road where it curves near the forest.", "destination": "the area of the road where it curves near the forest", "start_xy": [483, 709], "ang_err_namer_deg": 0.42783012953258076, "ang_err_cycle_deg": 3.8719309050662964, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "0f007a80_seg2", "clip": "0f007a80-9903-5092-9079-a70904654906", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0f0f3a46-eda1-5a9c-a51f-7947c596fbf3.json b/labels/outdoor/0f/0f0f3a46-eda1-5a9c-a51f-7947c596fbf3.json
index dad6af4c0e33bfab30a5a95f1d31374ddc308d58..8c70ad7c10b6d9341649db6ba97555453bf424e8 100644
--- a/labels/outdoor/0f/0f0f3a46-eda1-5a9c-a51f-7947c596fbf3.json
+++ b/labels/outdoor/0f/0f0f3a46-eda1-5a9c-a51f-7947c596fbf3.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the area ahead where the road enters the tunnel.", "destination": "the tunnel entrance", "start_xy": [484, 558], "ang_err_namer_deg": 6.786337950190849, "ang_err_cycle_deg": 0.43114206755029266, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "0f0f3a46_seg0", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}, {"t0": 32, "t_end": 45, "instruction": "Go to the area of the road near the tunnel entrance in the distance.", "destination": "the tunnel entrance", "start_xy": [427, 599], "ang_err_namer_deg": 4.287499021526224, "ang_err_cycle_deg": 10.755764246888656, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "0f0f3a46_seg1", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 30, "instruction": "Go to the area where the road curves right near the trees.", "destination": "the area where the road curves right near the trees", "start_xy": [789, 792], "ang_err_namer_deg": 5.610583822025763, "ang_err_cycle_deg": 0.707718903356869, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "0f0f3a46_seg2", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 15, "instruction": "Go to the area of the bend in the road surrounded by the forest.", "destination": "the bend in the road", "start_xy": [519, 792], "ang_err_namer_deg": 1.356899527578987, "ang_err_cycle_deg": 4.316288037044857, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "0f0f3a46_seg3", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 17, "t_end": 30, "instruction": "Go to the area where the road curves right near the trees.", "destination": "the area where the road curves right near the trees", "start_xy": [789, 792], "ang_err_namer_deg": 5.610583822025763, "ang_err_cycle_deg": 0.707718903356869, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "0f0f3a46_seg2", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 15, "instruction": "Go to the area of the bend in the road surrounded by the forest.", "destination": "the bend in the road", "start_xy": [519, 792], "ang_err_namer_deg": 1.356899527578987, "ang_err_cycle_deg": 4.316288037044857, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "0f0f3a46_seg3", "clip": "0f0f3a46-eda1-5a9c-a51f-7947c596fbf3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0f3ee9f9-14ee-5a01-932f-1a50d5d37922.json b/labels/outdoor/0f/0f3ee9f9-14ee-5a01-932f-1a50d5d37922.json
index 088f4a6dcbe82aeab112b30d2b9686ecfa5eeb1d..9ba4993a845bea7e87aac30692ca5811446afcc1 100644
--- a/labels/outdoor/0f/0f3ee9f9-14ee-5a01-932f-1a50d5d37922.json
+++ b/labels/outdoor/0f/0f3ee9f9-14ee-5a01-932f-1a50d5d37922.json
@@ -1 +1 @@
-[{"t0": 29, "t_end": 46, "instruction": "Go to the farmhouse near the large tree.", "destination": "the farmhouse near the large tree", "start_xy": [484, 703], "ang_err_namer_deg": 1.4000573135364378, "ang_err_cycle_deg": 1.623570810327462, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "0f3ee9f9_seg0", "clip": "0f3ee9f9-14ee-5a01-932f-1a50d5d37922", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the farmhouse.", "destination": "farmhouse", "start_xy": [494, 622], "ang_err_namer_deg": 6.589354749679771, "ang_err_cycle_deg": 7.3724841683900095, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "0f3ee9f9_seg1", "clip": "0f3ee9f9-14ee-5a01-932f-1a50d5d37922", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 46, "instruction": "Go to the farmhouse near the large tree.", "destination": "the farmhouse near the large tree", "start_xy": [484, 703], "ang_err_namer_deg": 1.4000573135364378, "ang_err_cycle_deg": 1.623570810327462, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "0f3ee9f9_seg0", "clip": "0f3ee9f9-14ee-5a01-932f-1a50d5d37922", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3.json b/labels/outdoor/0f/0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3.json
index b89c0e683b3ec6b9e3dc388cb225ab77996e6d38..bea15303c2fce043d24d6c0584fcf839d181947f 100644
--- a/labels/outdoor/0f/0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3.json
+++ b/labels/outdoor/0f/0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area by the pink building with the red car parked in front.", "destination": "the area by the pink building with the red car", "start_xy": [750, 300], "ang_err_namer_deg": 13.658878531037336, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "0f5b0b6e_seg0", "clip": "0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the building with the brown, multi-panel sign on the sidewalk.", "destination": "the building with the brown, multi-panel sign", "start_xy": [677, 381], "ang_err_namer_deg": 10.70444611877643, "ang_err_cycle_deg": 22.652838230992824, "confidence": "B", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "0f5b0b6e_seg1", "clip": "0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the area by the green fence.", "destination": "the green fence", "start_xy": [650, 550], "ang_err_namer_deg": 10.016865686781468, "ang_err_cycle_deg": 8.06452883093328, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "0f5b0b6e_seg2", "clip": "0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 16, "t_end": 27, "instruction": "Go to the area by the green fence.", "destination": "the green fence", "start_xy": [650, 550], "ang_err_namer_deg": 10.016865686781468, "ang_err_cycle_deg": 8.06452883093328, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "0f5b0b6e_seg2", "clip": "0f5b0b6e-2d17-5b60-b7bd-3ecd42961dc3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0faaf367-445d-5f1e-b85f-cd5897c82cdb.json b/labels/outdoor/0f/0faaf367-445d-5f1e-b85f-cd5897c82cdb.json
index 1a539a400a1322524a300f38a5da6d0fc5417ad3..6af86d3bb249c6a57ead44bd1e1faeb7ca7eff71 100644
--- a/labels/outdoor/0f/0faaf367-445d-5f1e-b85f-cd5897c82cdb.json
+++ b/labels/outdoor/0f/0faaf367-445d-5f1e-b85f-cd5897c82cdb.json
@@ -1 +1 @@
-[{"t0": 43, "t_end": 64, "instruction": "Go to the area by the rocks on the side of the road.", "destination": "the area by the rocks on the side of the road", "start_xy": [136, 554], "ang_err_namer_deg": 2.2675095038622826, "ang_err_cycle_deg": 8.46051535546131, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0faaf367_seg0", "clip": "0faaf367-445d-5f1e-b85f-cd5897c82cdb", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 41, "instruction": "Go to the wooden fence post on the left.", "destination": "wooden fence post on the left", "start_xy": [10, 500], "ang_err_namer_deg": 7.315972350514019, "ang_err_cycle_deg": 1.570089807309508, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "0faaf367_seg1", "clip": "0faaf367-445d-5f1e-b85f-cd5897c82cdb", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the group of people standing near the house.", "destination": "the group of people", "start_xy": [226, 487], "ang_err_namer_deg": 2.9975884523237823, "ang_err_cycle_deg": 2.7004742405751347, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "0faaf367_seg2", "clip": "0faaf367-445d-5f1e-b85f-cd5897c82cdb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 43, "t_end": 64, "instruction": "Go to the area by the rocks on the side of the road.", "destination": "the area by the rocks on the side of the road", "start_xy": [136, 554], "ang_err_namer_deg": 2.2675095038622826, "ang_err_cycle_deg": 8.46051535546131, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "0faaf367_seg0", "clip": "0faaf367-445d-5f1e-b85f-cd5897c82cdb", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the group of people standing near the house.", "destination": "the group of people", "start_xy": [226, 487], "ang_err_namer_deg": 2.9975884523237823, "ang_err_cycle_deg": 2.7004742405751347, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "0faaf367_seg2", "clip": "0faaf367-445d-5f1e-b85f-cd5897c82cdb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/0f/0ffcf9b4-8594-572a-a783-84962f4da262.json b/labels/outdoor/0f/0ffcf9b4-8594-572a-a783-84962f4da262.json
index 333a87981b969524f9d9308368232295409a7e5f..6b747fffc48879bb936f03782f9695241c8edd89 100644
--- a/labels/outdoor/0f/0ffcf9b4-8594-572a-a783-84962f4da262.json
+++ b/labels/outdoor/0f/0ffcf9b4-8594-572a-a783-84962f4da262.json
@@ -1 +1 @@
-[{"t0": 23, "t_end": 58, "instruction": "Go to the triangular road sign on the side of the road.", "destination": "the triangular road sign", "start_xy": [361, 591], "ang_err_namer_deg": 5.701224228836571, "ang_err_cycle_deg": 27.078149867616865, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "0ffcf9b4_seg0", "clip": "0ffcf9b4-8594-572a-a783-84962f4da262", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the road marker on the left.", "destination": "the road marker", "start_xy": [515, 569], "ang_err_namer_deg": 6.306299205065241, "ang_err_cycle_deg": 6.477664697231256, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "0ffcf9b4_seg1", "clip": "0ffcf9b4-8594-572a-a783-84962f4da262", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 21, "instruction": "Go to the road marker on the left.", "destination": "the road marker", "start_xy": [515, 569], "ang_err_namer_deg": 6.306299205065241, "ang_err_cycle_deg": 6.477664697231256, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "0ffcf9b4_seg1", "clip": "0ffcf9b4-8594-572a-a783-84962f4da262", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/10/10d4beec-118a-588b-9844-b540cbe18805.json b/labels/outdoor/10/10d4beec-118a-588b-9844-b540cbe18805.json
index da594bed09db2b968376e6d811e704f2818b4d22..107f91cb65f2c835fbebec6681eb2f2f40c11c9c 100644
--- a/labels/outdoor/10/10d4beec-118a-588b-9844-b540cbe18805.json
+++ b/labels/outdoor/10/10d4beec-118a-588b-9844-b540cbe18805.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the building and the red flag.", "destination": "the building with the red flag", "start_xy": [605, 500], "ang_err_namer_deg": 8.130783848524526, "ang_err_cycle_deg": 5.921294016977713, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "10d4beec_seg0", "clip": "10d4beec-118a-588b-9844-b540cbe18805", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area with the roadside buildings and the parked vehicles.", "destination": "the area with the roadside buildings and the parked vehicles", "start_xy": [406, 605], "ang_err_namer_deg": 1.8663408025865367, "ang_err_cycle_deg": 2.864960227812571, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "10d4beec_seg1", "clip": "10d4beec-118a-588b-9844-b540cbe18805", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area with the roadside buildings and the parked vehicles.", "destination": "the area with the roadside buildings and the parked vehicles", "start_xy": [406, 605], "ang_err_namer_deg": 1.8663408025865367, "ang_err_cycle_deg": 2.864960227812571, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "10d4beec_seg1", "clip": "10d4beec-118a-588b-9844-b540cbe18805", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/12/1202d52e-0913-5c57-bb59-d8d18cf10899.json b/labels/outdoor/12/1202d52e-0913-5c57-bb59-d8d18cf10899.json
index 7112c07f1e41ed5290b6ea56b29f6ad34b423de3..d5eccc3c1dda34c26099ff1c0cfe29f5fdfb0939 100644
--- a/labels/outdoor/12/1202d52e-0913-5c57-bb59-d8d18cf10899.json
+++ b/labels/outdoor/12/1202d52e-0913-5c57-bb59-d8d18cf10899.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the red house.", "destination": "the red house", "start_xy": [0, 487], "ang_err_namer_deg": 8.63149035705369, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "1202d52e_seg0", "clip": "1202d52e-0913-5c57-bb59-d8d18cf10899", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the stone fence.", "destination": "the stone fence", "start_xy": [315, 701], "ang_err_namer_deg": 6.887150786423463, "ang_err_cycle_deg": 2.956165926383122, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "1202d52e_seg1", "clip": "1202d52e-0913-5c57-bb59-d8d18cf10899", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the area by the motorcycle.", "destination": "the area by the motorcycle", "start_xy": [497, 687], "ang_err_namer_deg": 1.218209291565758, "ang_err_cycle_deg": 1.1458454324205065, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "1202d52e_seg2", "clip": "1202d52e-0913-5c57-bb59-d8d18cf10899", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area by the 30 km/h speed limit sign.", "destination": "the 30 km/h speed limit sign", "start_xy": [701, 579], "ang_err_namer_deg": 13.817933245378262, "ang_err_cycle_deg": 13.613799722644542, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "1202d52e_seg3", "clip": "1202d52e-0913-5c57-bb59-d8d18cf10899", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the area by the 30 km/h speed limit sign.", "destination": "the 30 km/h speed limit sign", "start_xy": [701, 579], "ang_err_namer_deg": 13.817933245378262, "ang_err_cycle_deg": 13.613799722644542, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "1202d52e_seg3", "clip": "1202d52e-0913-5c57-bb59-d8d18cf10899", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/12/12950b6f-77b1-508c-9ba2-cd918a914cda.json b/labels/outdoor/12/12950b6f-77b1-508c-9ba2-cd918a914cda.json
index 5a10540bba0bcb316214b70d0bf0717ae436b690..1109eee7ab292da8fc24489bf0abea59c961de57 100644
--- a/labels/outdoor/12/12950b6f-77b1-508c-9ba2-cd918a914cda.json
+++ b/labels/outdoor/12/12950b6f-77b1-508c-9ba2-cd918a914cda.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the red rock formation.", "destination": "the red rock formation", "start_xy": [750, 550], "ang_err_namer_deg": 4.561753047502819, "ang_err_cycle_deg": 0.026975047770254505, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "12950b6f_seg0", "clip": "12950b6f-77b1-508c-9ba2-cd918a914cda", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area near the sign on the right side of the road.", "destination": "the sign", "start_xy": [643, 622], "ang_err_namer_deg": 4.6547121598172545, "ang_err_cycle_deg": 4.6547121598172545, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "12950b6f_seg1", "clip": "12950b6f-77b1-508c-9ba2-cd918a914cda", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area near the sign on the right side of the road.", "destination": "the sign", "start_xy": [643, 622], "ang_err_namer_deg": 4.6547121598172545, "ang_err_cycle_deg": 4.6547121598172545, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "12950b6f_seg1", "clip": "12950b6f-77b1-508c-9ba2-cd918a914cda", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/13/133be282-e43e-5c73-abcc-5fed2b03d49c.json b/labels/outdoor/13/133be282-e43e-5c73-abcc-5fed2b03d49c.json
index 6b175b6e15f15796cfecfa217144f73ee7e6dbc0..3bb2cec02c7b30c5a5550414384ebfee35077112 100644
--- a/labels/outdoor/13/133be282-e43e-5c73-abcc-5fed2b03d49c.json
+++ b/labels/outdoor/13/133be282-e43e-5c73-abcc-5fed2b03d49c.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area on the road where the silver SUV is parked.", "destination": "the silver SUV", "start_xy": [395, 571], "ang_err_namer_deg": 6.031791212400987, "ang_err_cycle_deg": 6.031791212400987, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "133be282_seg0", "clip": "133be282-e43e-5c73-abcc-5fed2b03d49c", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area of the road near the guardrail bend.", "destination": "the area of the road near the guardrail bend", "start_xy": [750, 750], "ang_err_namer_deg": 9.360770298811948, "ang_err_cycle_deg": 11.213298940040591, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "133be282_seg1", "clip": "133be282-e43e-5c73-abcc-5fed2b03d49c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area of the road near the guardrail bend.", "destination": "the area of the road near the guardrail bend", "start_xy": [750, 750], "ang_err_namer_deg": 9.360770298811948, "ang_err_cycle_deg": 11.213298940040591, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "133be282_seg1", "clip": "133be282-e43e-5c73-abcc-5fed2b03d49c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/13/13df9d8f-07dd-5782-bb70-cbe94e51f73a.json b/labels/outdoor/13/13df9d8f-07dd-5782-bb70-cbe94e51f73a.json
index c23b116c6c06ef5c86b7750794c5423e457fe856..c1a5f0a2faf134497de88663838a9c1057e5f1fe 100644
--- a/labels/outdoor/13/13df9d8f-07dd-5782-bb70-cbe94e51f73a.json
+++ b/labels/outdoor/13/13df9d8f-07dd-5782-bb70-cbe94e51f73a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the McDonald's sign.", "destination": "the McDonald's sign", "start_xy": [421, 395], "ang_err_namer_deg": 12.721117841032411, "ang_err_cycle_deg": 12.721117841032411, "confidence": "A", "arrival_ok": true, "duration_s": 6.4218020287850335, "tier": "L", "id": "13df9d8f_seg0", "clip": "13df9d8f-07dd-5782-bb70-cbe94e51f73a", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the McDonald's building.", "destination": "the McDonald's building", "start_xy": [510, 483], "ang_err_namer_deg": 12.828647818370978, "ang_err_cycle_deg": 11.931852155264302, "confidence": "B", "arrival_ok": false, "duration_s": 6.4218020287850335, "tier": "L", "id": "13df9d8f_seg1", "clip": "13df9d8f-07dd-5782-bb70-cbe94e51f73a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the McDonald's sign.", "destination": "the McDonald's sign", "start_xy": [421, 395], "ang_err_namer_deg": 12.721117841032411, "ang_err_cycle_deg": 12.721117841032411, "confidence": "A", "arrival_ok": true, "duration_s": 6.4218020287850335, "tier": "L", "id": "13df9d8f_seg0", "clip": "13df9d8f-07dd-5782-bb70-cbe94e51f73a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/16/164884a3-f45e-527d-8fe9-1c9d024ff4db.json b/labels/outdoor/16/164884a3-f45e-527d-8fe9-1c9d024ff4db.json
index 6735b29bfcaf1146437156e134245923dfd3bce3..2806b5f4818c1386fb8e7392a61cac003400bb89 100644
--- a/labels/outdoor/16/164884a3-f45e-527d-8fe9-1c9d024ff4db.json
+++ b/labels/outdoor/16/164884a3-f45e-527d-8fe9-1c9d024ff4db.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the light-colored building with vertical siding on the corner.", "destination": "the light-colored building with vertical siding on the corner", "start_xy": [483, 481], "ang_err_namer_deg": 12.928760638823757, "ang_err_cycle_deg": 17.561821370341, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "164884a3_seg0", "clip": "164884a3-f45e-527d-8fe9-1c9d024ff4db", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the crosswalk near the theater restaurant building.", "destination": "the crosswalk", "start_xy": [485, 677], "ang_err_namer_deg": 1.1376367494033532, "ang_err_cycle_deg": 1.4607606071703785, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "164884a3_seg1", "clip": "164884a3-f45e-527d-8fe9-1c9d024ff4db", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the crosswalk near the theater restaurant building.", "destination": "the crosswalk", "start_xy": [485, 677], "ang_err_namer_deg": 1.1376367494033532, "ang_err_cycle_deg": 1.4607606071703785, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "164884a3_seg1", "clip": "164884a3-f45e-527d-8fe9-1c9d024ff4db", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/17/172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7.json b/labels/outdoor/17/172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7.json
index e53300651280c0587f6e709df630d3ac6d3a0b63..3d34a7bd5d48c6b59a00b21926c762661134ab0d 100644
--- a/labels/outdoor/17/172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7.json
+++ b/labels/outdoor/17/172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 74, "instruction": "Go to the car parked on the side of the road.", "destination": "the car parked on the side of the road", "start_xy": [139, 551], "ang_err_namer_deg": 3.395626430942933, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "172fe2b0_seg0", "clip": "172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7", "source": "spatialvid_v3"}, {"t0": 30, "t_end": 47, "instruction": "Go to the house with green shutters.", "destination": "the house with green shutters", "start_xy": [159, 479], "ang_err_namer_deg": 3.3463568499234713, "ang_err_cycle_deg": 0.6130018870629372, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "172fe2b0_seg1", "clip": "172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 28, "instruction": "Go to the end of the road near the large house.", "destination": "the end of the road near the large house", "start_xy": [405, 748], "ang_err_namer_deg": 6.15893358052669, "ang_err_cycle_deg": 12.633904467919953, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "172fe2b0_seg2", "clip": "172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 30, "t_end": 47, "instruction": "Go to the house with green shutters.", "destination": "the house with green shutters", "start_xy": [159, 479], "ang_err_namer_deg": 3.3463568499234713, "ang_err_cycle_deg": 0.6130018870629372, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "172fe2b0_seg1", "clip": "172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 28, "instruction": "Go to the end of the road near the large house.", "destination": "the end of the road near the large house", "start_xy": [405, 748], "ang_err_namer_deg": 6.15893358052669, "ang_err_cycle_deg": 12.633904467919953, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "172fe2b0_seg2", "clip": "172fe2b0-2ed4-53c9-89e6-a6dc81d6d3d7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/17/173cbae6-13dd-5a80-9ebd-530691790a21.json b/labels/outdoor/17/173cbae6-13dd-5a80-9ebd-530691790a21.json
index b7628dd6570a369595756a38d6ee5bab4478d9cc..3b420ff36ad39dfb05be3572b3b722e9f3a27a65 100644
--- a/labels/outdoor/17/173cbae6-13dd-5a80-9ebd-530691790a21.json
+++ b/labels/outdoor/17/173cbae6-13dd-5a80-9ebd-530691790a21.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the utility pole on the right.", "destination": "utility pole on the right", "start_xy": [595, 510], "ang_err_namer_deg": 11.028876972393657, "ang_err_cycle_deg": 11.17961466649944, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "173cbae6_seg0", "clip": "173cbae6-13dd-5a80-9ebd-530691790a21", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the stone wall by the side of the road.", "destination": "stone wall", "start_xy": [454, 648], "ang_err_namer_deg": 5.424820493605334, "ang_err_cycle_deg": 3.97726442365619, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "173cbae6_seg1", "clip": "173cbae6-13dd-5a80-9ebd-530691790a21", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the area with the speed bumps.", "destination": "the area with the speed bumps", "start_xy": [450, 725], "ang_err_namer_deg": 2.751569340261722, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "173cbae6_seg2", "clip": "173cbae6-13dd-5a80-9ebd-530691790a21", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 28, "t_end": 45, "instruction": "Go to the stone wall by the side of the road.", "destination": "stone wall", "start_xy": [454, 648], "ang_err_namer_deg": 5.424820493605334, "ang_err_cycle_deg": 3.97726442365619, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "173cbae6_seg1", "clip": "173cbae6-13dd-5a80-9ebd-530691790a21", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/17/17493423-359d-5c13-9435-895b43a394ed.json b/labels/outdoor/17/17493423-359d-5c13-9435-895b43a394ed.json
index 5816333a8bfea613f751d7a8a2537faddbed284f..1721f71b2468bd81ca63a00ab93574d0acf0e531 100644
--- a/labels/outdoor/17/17493423-359d-5c13-9435-895b43a394ed.json
+++ b/labels/outdoor/17/17493423-359d-5c13-9435-895b43a394ed.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the utility pole and small building along the road.", "destination": "the utility pole and small building", "start_xy": [655, 685], "ang_err_namer_deg": 1.909003781346528, "ang_err_cycle_deg": 3.41491621908957, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "17493423_seg0", "clip": "17493423-359d-5c13-9435-895b43a394ed", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the snow-covered retaining wall.", "destination": "the snow-covered retaining wall", "start_xy": [235, 381], "ang_err_namer_deg": 11.500730155023632, "ang_err_cycle_deg": 16.69207258003988, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "17493423_seg1", "clip": "17493423-359d-5c13-9435-895b43a394ed", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the stone wall with steps.", "destination": "the stone wall with steps", "start_xy": [575, 609], "ang_err_namer_deg": 11.786838161572526, "ang_err_cycle_deg": 11.874766288450187, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "17493423_seg2", "clip": "17493423-359d-5c13-9435-895b43a394ed", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the utility pole and small building along the road.", "destination": "the utility pole and small building", "start_xy": [655, 685], "ang_err_namer_deg": 1.909003781346528, "ang_err_cycle_deg": 3.41491621908957, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "17493423_seg0", "clip": "17493423-359d-5c13-9435-895b43a394ed", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/17/175e0e69-bd98-5d35-8873-ad45664f0c3e.json b/labels/outdoor/17/175e0e69-bd98-5d35-8873-ad45664f0c3e.json
index f97b6189693188cd60d1eab3ed2c80337caf1923..c886e437bcf5d4c177df3039a24fd9f1db058708 100644
--- a/labels/outdoor/17/175e0e69-bd98-5d35-8873-ad45664f0c3e.json
+++ b/labels/outdoor/17/175e0e69-bd98-5d35-8873-ad45664f0c3e.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the white house.", "destination": "the white house", "start_xy": [305, 526], "ang_err_namer_deg": 13.311387193181101, "ang_err_cycle_deg": 13.397580022417856, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "175e0e69_seg0", "clip": "175e0e69-bd98-5d35-8873-ad45664f0c3e", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area where the train tracks curve.", "destination": "the area where the train tracks curve", "start_xy": [519, 742], "ang_err_namer_deg": 12.377897467479459, "ang_err_cycle_deg": 7.1706369344237295, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "175e0e69_seg1", "clip": "175e0e69-bd98-5d35-8873-ad45664f0c3e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area where the train tracks curve.", "destination": "the area where the train tracks curve", "start_xy": [519, 742], "ang_err_namer_deg": 12.377897467479459, "ang_err_cycle_deg": 7.1706369344237295, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "175e0e69_seg1", "clip": "175e0e69-bd98-5d35-8873-ad45664f0c3e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/18/18a90694-7fbf-50fa-b68f-ce4a8926174b.json b/labels/outdoor/18/18a90694-7fbf-50fa-b68f-ce4a8926174b.json
index d090b56f5e02ba352e81ea5b3bf60f07762578f4..5439ec2cc34b31c7d046009676646a37c572820c 100644
--- a/labels/outdoor/18/18a90694-7fbf-50fa-b68f-ce4a8926174b.json
+++ b/labels/outdoor/18/18a90694-7fbf-50fa-b68f-ce4a8926174b.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the blue canopy in the distance.", "destination": "the blue canopy", "start_xy": [516, 526], "ang_err_namer_deg": 1.4845449841302405, "ang_err_cycle_deg": 2.288406124987666, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "18a90694_seg0", "clip": "18a90694-7fbf-50fa-b68f-ce4a8926174b", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area beneath the 'CABARET' sign.", "destination": "the area beneath the 'CABARET' sign", "start_xy": [589, 485], "ang_err_namer_deg": 10.040418287548057, "ang_err_cycle_deg": 11.45020241141066, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "18a90694_seg1", "clip": "18a90694-7fbf-50fa-b68f-ce4a8926174b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 27, "instruction": "Go to the area beneath the 'CABARET' sign.", "destination": "the area beneath the 'CABARET' sign", "start_xy": [589, 485], "ang_err_namer_deg": 10.040418287548057, "ang_err_cycle_deg": 11.45020241141066, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "18a90694_seg1", "clip": "18a90694-7fbf-50fa-b68f-ce4a8926174b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/18/18d04f78-3da4-5d35-a726-8ed4c72ecde6.json b/labels/outdoor/18/18d04f78-3da4-5d35-a726-8ed4c72ecde6.json
index fc7e9c02690a8087606fda7e30d78f250d88acb0..6bebdc2f0a825d6c9e457cb93541adfcda6095e0 100644
--- a/labels/outdoor/18/18d04f78-3da4-5d35-a726-8ed4c72ecde6.json
+++ b/labels/outdoor/18/18d04f78-3da4-5d35-a726-8ed4c72ecde6.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 58, "instruction": "Go to the area with the shipping containers on the right side of the road.", "destination": "the area with the shipping containers", "start_xy": [512, 625], "ang_err_namer_deg": 9.464322057361457, "ang_err_cycle_deg": 13.177462267802454, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "18d04f78_seg0", "clip": "18d04f78-3da4-5d35-a726-8ed4c72ecde6", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 24, "instruction": "Go to the white container trailer parked on the side of the road.", "destination": "the white container trailer", "start_xy": [273, 634], "ang_err_namer_deg": 2.6626384793770197, "ang_err_cycle_deg": 3.0304214293338214, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "18d04f78_seg1", "clip": "18d04f78-3da4-5d35-a726-8ed4c72ecde6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 26, "t_end": 58, "instruction": "Go to the area with the shipping containers on the right side of the road.", "destination": "the area with the shipping containers", "start_xy": [512, 625], "ang_err_namer_deg": 9.464322057361457, "ang_err_cycle_deg": 13.177462267802454, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "18d04f78_seg0", "clip": "18d04f78-3da4-5d35-a726-8ed4c72ecde6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/18/18e3787b-6e99-5ab8-a99b-db7f2bd09418.json b/labels/outdoor/18/18e3787b-6e99-5ab8-a99b-db7f2bd09418.json
index 544dc200bd0d92d260aae403ae30bac272866670..3f4b5e43a68cd976b3060968a4f47e940ef010ef 100644
--- a/labels/outdoor/18/18e3787b-6e99-5ab8-a99b-db7f2bd09418.json
+++ b/labels/outdoor/18/18e3787b-6e99-5ab8-a99b-db7f2bd09418.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 61, "instruction": "Go to the food cart near the H&R Block.", "destination": "food cart", "start_xy": [236, 551], "ang_err_namer_deg": 9.504920268002763, "ang_err_cycle_deg": 9.504920268002763, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "18e3787b_seg0", "clip": "18e3787b-6e99-5ab8-a99b-db7f2bd09418", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 49, "instruction": "Go to the subway entrance near the corner with the H&R Block.", "destination": "subway entrance", "start_xy": [425, 558], "ang_err_namer_deg": 1.7041975877718394, "ang_err_cycle_deg": 22.47555006877097, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "18e3787b_seg1", "clip": "18e3787b-6e99-5ab8-a99b-db7f2bd09418", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 61, "instruction": "Go to the food cart near the H&R Block.", "destination": "food cart", "start_xy": [236, 551], "ang_err_namer_deg": 9.504920268002763, "ang_err_cycle_deg": 9.504920268002763, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "18e3787b_seg0", "clip": "18e3787b-6e99-5ab8-a99b-db7f2bd09418", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/18/18e418fc-4f35-5843-b4fb-974348b70345.json b/labels/outdoor/18/18e418fc-4f35-5843-b4fb-974348b70345.json
index 8ba1766e8f80433d1e00096e24eaec14a9b44757..3baf4a00b99edddfd98ce09335fdd4132a09e302 100644
--- a/labels/outdoor/18/18e418fc-4f35-5843-b4fb-974348b70345.json
+++ b/labels/outdoor/18/18e418fc-4f35-5843-b4fb-974348b70345.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the parking garage entrance.", "destination": "the parking garage entrance", "start_xy": [372, 628], "ang_err_namer_deg": 5.926293960134271, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "18e418fc_seg0", "clip": "18e418fc-4f35-5843-b4fb-974348b70345", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [482, 795], "ang_err_namer_deg": 0.8548781677949463, "ang_err_cycle_deg": 1.102088528673784, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "18e418fc_seg1", "clip": "18e418fc-4f35-5843-b4fb-974348b70345", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [482, 795], "ang_err_namer_deg": 0.8548781677949463, "ang_err_cycle_deg": 1.102088528673784, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "18e418fc_seg1", "clip": "18e418fc-4f35-5843-b4fb-974348b70345", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1a/1a8d6e3e-86a2-505d-b19f-58923cc146b7.json b/labels/outdoor/1a/1a8d6e3e-86a2-505d-b19f-58923cc146b7.json
index be90d1da190c9389fcfb617c686aef5a6f41b309..1c6e3b8d733326e810eab36334129b56746f8c89 100644
--- a/labels/outdoor/1a/1a8d6e3e-86a2-505d-b19f-58923cc146b7.json
+++ b/labels/outdoor/1a/1a8d6e3e-86a2-505d-b19f-58923cc146b7.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the yellow road markings.", "destination": "the area with the yellow road markings", "start_xy": [372, 745], "ang_err_namer_deg": 4.153234072742133, "ang_err_cycle_deg": 11.99382320961265, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1a8d6e3e_seg0", "clip": "1a8d6e3e-86a2-505d-b19f-58923cc146b7", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area behind the car.", "destination": "the area behind the car", "start_xy": [699, 707], "ang_err_namer_deg": 3.002075355986709, "ang_err_cycle_deg": 2.815707176161627, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "1a8d6e3e_seg1", "clip": "1a8d6e3e-86a2-505d-b19f-58923cc146b7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the yellow road markings.", "destination": "the area with the yellow road markings", "start_xy": [372, 745], "ang_err_namer_deg": 4.153234072742133, "ang_err_cycle_deg": 11.99382320961265, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1a8d6e3e_seg0", "clip": "1a8d6e3e-86a2-505d-b19f-58923cc146b7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1a/1af60b52-efa9-51b2-9ea9-d7ce22769c28.json b/labels/outdoor/1a/1af60b52-efa9-51b2-9ea9-d7ce22769c28.json
index 01dfa9399282e3be39a063b3c968c9d813c5c780..bf2ebbd024c00f723f6aa737352a51661e293a44 100644
--- a/labels/outdoor/1a/1af60b52-efa9-51b2-9ea9-d7ce22769c28.json
+++ b/labels/outdoor/1a/1af60b52-efa9-51b2-9ea9-d7ce22769c28.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the blue building, which is a Family Pharmacy and Discount Center.", "destination": "the blue building", "start_xy": [427, 481], "ang_err_namer_deg": 10.342736848260147, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1af60b52_seg0", "clip": "1af60b52-efa9-51b2-9ea9-d7ce22769c28", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area with the white car parked alongside the graffiti-covered wall.", "destination": "the white car parked along the graffiti-covered wall", "start_xy": [498, 638], "ang_err_namer_deg": 5.308258945714477, "ang_err_cycle_deg": 5.131649170701434, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "1af60b52_seg1", "clip": "1af60b52-efa9-51b2-9ea9-d7ce22769c28", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the area with the white car parked alongside the graffiti-covered wall.", "destination": "the white car parked along the graffiti-covered wall", "start_xy": [498, 638], "ang_err_namer_deg": 5.308258945714477, "ang_err_cycle_deg": 5.131649170701434, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "1af60b52_seg1", "clip": "1af60b52-efa9-51b2-9ea9-d7ce22769c28", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1b/1b3cd0ff-dab5-5f8b-ae1b-76c45d109615.json b/labels/outdoor/1b/1b3cd0ff-dab5-5f8b-ae1b-76c45d109615.json
index 91c0cf7ca82bd4d7b8510fcd63ef1036810ca673..f4c9a7e92a652473cd92d817e9dca59d3168de63 100644
--- a/labels/outdoor/1b/1b3cd0ff-dab5-5f8b-ae1b-76c45d109615.json
+++ b/labels/outdoor/1b/1b3cd0ff-dab5-5f8b-ae1b-76c45d109615.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the patch of white rocks on the road.", "destination": "the patch of white rocks on the road", "start_xy": [484, 491], "ang_err_namer_deg": 3.5669910790854717, "ang_err_cycle_deg": 3.2197571908671123, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "1b3cd0ff_seg0", "clip": "1b3cd0ff-dab5-5f8b-ae1b-76c45d109615", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road", "start_xy": [485, 506], "ang_err_namer_deg": 2.8297047397373323, "ang_err_cycle_deg": 2.4825587597183842, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "1b3cd0ff_seg1", "clip": "1b3cd0ff-dab5-5f8b-ae1b-76c45d109615", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road", "start_xy": [485, 506], "ang_err_namer_deg": 2.8297047397373323, "ang_err_cycle_deg": 2.4825587597183842, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "1b3cd0ff_seg1", "clip": "1b3cd0ff-dab5-5f8b-ae1b-76c45d109615", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1b/1bf9f509-bf32-554f-8b3e-1e5fd660592b.json b/labels/outdoor/1b/1bf9f509-bf32-554f-8b3e-1e5fd660592b.json
index 2924bed48e7f3ffeac5b5a06b8813cbb850d9375..1be2db2238d6ead4cebd3367d3d212db4146f47a 100644
--- a/labels/outdoor/1b/1bf9f509-bf32-554f-8b3e-1e5fd660592b.json
+++ b/labels/outdoor/1b/1bf9f509-bf32-554f-8b3e-1e5fd660592b.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the small building in the distance.", "destination": "small building", "start_xy": [461, 472], "ang_err_namer_deg": 3.3796743311408877, "ang_err_cycle_deg": 2.607425014808957, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "1bf9f509_seg0", "clip": "1bf9f509-bf32-554f-8b3e-1e5fd660592b", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the utility pole near the train tracks.", "destination": "the utility pole", "start_xy": [498, 487], "ang_err_namer_deg": 12.708129808694357, "ang_err_cycle_deg": 9.823309898532388, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1bf9f509_seg1", "clip": "1bf9f509-bf32-554f-8b3e-1e5fd660592b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the utility pole near the train tracks.", "destination": "the utility pole", "start_xy": [498, 487], "ang_err_namer_deg": 12.708129808694357, "ang_err_cycle_deg": 9.823309898532388, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1bf9f509_seg1", "clip": "1bf9f509-bf32-554f-8b3e-1e5fd660592b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1c/1c476fb7-4244-5137-be9f-9bf1fbb5ab2f.json b/labels/outdoor/1c/1c476fb7-4244-5137-be9f-9bf1fbb5ab2f.json
index e0b7201e9480f6ed4dcd5d2b6a3cb96ec709bb53..03db8854f2b1ffaece76a165814fb4bcd68ca1c1 100644
--- a/labels/outdoor/1c/1c476fb7-4244-5137-be9f-9bf1fbb5ab2f.json
+++ b/labels/outdoor/1c/1c476fb7-4244-5137-be9f-9bf1fbb5ab2f.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the stretch of road flanked by forest.", "destination": "the stretch of road flanked by forest", "start_xy": [485, 557], "ang_err_namer_deg": 8.209253592229548, "ang_err_cycle_deg": 8.63307683991891, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1c476fb7_seg0", "clip": "1c476fb7-4244-5137-be9f-9bf1fbb5ab2f", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the orange construction barrel on the right.", "destination": "the orange construction barrel", "start_xy": [588, 728], "ang_err_namer_deg": 3.814715275358348, "ang_err_cycle_deg": 3.917964110743018, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "1c476fb7_seg1", "clip": "1c476fb7-4244-5137-be9f-9bf1fbb5ab2f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the stretch of road flanked by forest.", "destination": "the stretch of road flanked by forest", "start_xy": [485, 557], "ang_err_namer_deg": 8.209253592229548, "ang_err_cycle_deg": 8.63307683991891, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1c476fb7_seg0", "clip": "1c476fb7-4244-5137-be9f-9bf1fbb5ab2f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1c/1c7a5aa2-604e-5cb1-ac03-4790496f4ee7.json b/labels/outdoor/1c/1c7a5aa2-604e-5cb1-ac03-4790496f4ee7.json
index c318138712fb2ecde8c09893b37971486c01f24b..4121aaabd5b99049f03635de1a8dcfa862ba9023 100644
--- a/labels/outdoor/1c/1c7a5aa2-604e-5cb1-ac03-4790496f4ee7.json
+++ b/labels/outdoor/1c/1c7a5aa2-604e-5cb1-ac03-4790496f4ee7.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the traffic sign on the right.", "destination": "the traffic sign on the right", "start_xy": [612, 634], "ang_err_namer_deg": 10.12742268711158, "ang_err_cycle_deg": 10.213870647583917, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "1c7a5aa2_seg0", "clip": "1c7a5aa2-604e-5cb1-ac03-4790496f4ee7", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 34, "instruction": "Go to the speed limit sign.", "destination": "the speed limit sign", "start_xy": [612, 625], "ang_err_namer_deg": 12.602622489906993, "ang_err_cycle_deg": 12.861828576311416, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "1c7a5aa2_seg1", "clip": "1c7a5aa2-604e-5cb1-ac03-4790496f4ee7", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the area with the parked cars.", "destination": "the area with the parked cars", "start_xy": [482, 727], "ang_err_namer_deg": 4.185328498253309, "ang_err_cycle_deg": 1.6972609451012979, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "1c7a5aa2_seg2", "clip": "1c7a5aa2-604e-5cb1-ac03-4790496f4ee7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 18, "instruction": "Go to the area with the parked cars.", "destination": "the area with the parked cars", "start_xy": [482, 727], "ang_err_namer_deg": 4.185328498253309, "ang_err_cycle_deg": 1.6972609451012979, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "1c7a5aa2_seg2", "clip": "1c7a5aa2-604e-5cb1-ac03-4790496f4ee7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1d/1d746fc8-5c7e-5735-b952-80ce4692053b.json b/labels/outdoor/1d/1d746fc8-5c7e-5735-b952-80ce4692053b.json
index 67b8a8b8ee1cf8bf9da674deda15ee889c9ace87..cc29a6622acd96b5f35da5204fe5a795747b059c 100644
--- a/labels/outdoor/1d/1d746fc8-5c7e-5735-b952-80ce4692053b.json
+++ b/labels/outdoor/1d/1d746fc8-5c7e-5735-b952-80ce4692053b.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the green decorative wall.", "destination": "the green decorative wall", "start_xy": [376, 639], "ang_err_namer_deg": 3.9194031592344594, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1d746fc8_seg0", "clip": "1d746fc8-5c7e-5735-b952-80ce4692053b", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area between the rock cliffs.", "destination": "the area between the rock cliffs", "start_xy": [484, 594], "ang_err_namer_deg": 0.2588460320680199, "ang_err_cycle_deg": 0.3971488746471019, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "1d746fc8_seg1", "clip": "1d746fc8-5c7e-5735-b952-80ce4692053b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area between the rock cliffs.", "destination": "the area between the rock cliffs", "start_xy": [484, 594], "ang_err_namer_deg": 0.2588460320680199, "ang_err_cycle_deg": 0.3971488746471019, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "1d746fc8_seg1", "clip": "1d746fc8-5c7e-5735-b952-80ce4692053b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1d/1d7d6aff-f088-5abf-b381-298cfbe96959.json b/labels/outdoor/1d/1d7d6aff-f088-5abf-b381-298cfbe96959.json
index a56c3985adb5a55e11f82189f21c62a7b4b1ba2a..a3fee9784a25ac8f99b9bc97ee064c62eec09c91 100644
--- a/labels/outdoor/1d/1d7d6aff-f088-5abf-b381-298cfbe96959.json
+++ b/labels/outdoor/1d/1d7d6aff-f088-5abf-b381-298cfbe96959.json
@@ -1 +1 @@
-[{"t0": 21, "t_end": 56, "instruction": "Go to the sharp curve in the mountain road marked by a trail sign.", "destination": "the sharp curve in the mountain road", "start_xy": [583, 597], "ang_err_namer_deg": 0.0751834547786665, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1d7d6aff_seg0", "clip": "1d7d6aff-f088-5abf-b381-298cfbe96959", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 19, "instruction": "Go to the metal guardrail along the cliffside road.", "destination": "the metal guardrail", "start_xy": [544, 599], "ang_err_namer_deg": 2.9787825944200046, "ang_err_cycle_deg": 3.1171362230457227, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "1d7d6aff_seg1", "clip": "1d7d6aff-f088-5abf-b381-298cfbe96959", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 19, "instruction": "Go to the metal guardrail along the cliffside road.", "destination": "the metal guardrail", "start_xy": [544, 599], "ang_err_namer_deg": 2.9787825944200046, "ang_err_cycle_deg": 3.1171362230457227, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "1d7d6aff_seg1", "clip": "1d7d6aff-f088-5abf-b381-298cfbe96959", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1d/1dbfa50a-fad8-5bb4-8530-665ef5431b8d.json b/labels/outdoor/1d/1dbfa50a-fad8-5bb4-8530-665ef5431b8d.json
index e46f77afd5a399f5b17a71cb189b428ed0c896b4..2c562a809f3406eb1cc66aba4ab11445ca3a5be0 100644
--- a/labels/outdoor/1d/1dbfa50a-fad8-5bb4-8530-665ef5431b8d.json
+++ b/labels/outdoor/1d/1dbfa50a-fad8-5bb4-8530-665ef5431b8d.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the AVIA gas station.", "destination": "AVIA gas station", "start_xy": [453, 557], "ang_err_namer_deg": 7.381098405849664, "ang_err_cycle_deg": 5.408866557394058, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1dbfa50a_seg0", "clip": "1dbfa50a-fad8-5bb4-8530-665ef5431b8d", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area with the blue sign on the right.", "destination": "the area with the blue sign", "start_xy": [498, 481], "ang_err_namer_deg": 3.6013487374675655, "ang_err_cycle_deg": 3.7864695757664815, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "1dbfa50a_seg1", "clip": "1dbfa50a-fad8-5bb4-8530-665ef5431b8d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the AVIA gas station.", "destination": "AVIA gas station", "start_xy": [453, 557], "ang_err_namer_deg": 7.381098405849664, "ang_err_cycle_deg": 5.408866557394058, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "1dbfa50a_seg0", "clip": "1dbfa50a-fad8-5bb4-8530-665ef5431b8d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1e/1e444dec-187d-55d5-80bb-3bc469b0c523.json b/labels/outdoor/1e/1e444dec-187d-55d5-80bb-3bc469b0c523.json
index 3ac617f79954688030ca570dbcd89551406c12e8..e21d422ada9286d980d052697fc0e279a6fd9383 100644
--- a/labels/outdoor/1e/1e444dec-187d-55d5-80bb-3bc469b0c523.json
+++ b/labels/outdoor/1e/1e444dec-187d-55d5-80bb-3bc469b0c523.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 61, "instruction": "Go to the area where the road curves slightly into the trees.", "destination": "the curve in the road", "start_xy": [498, 809], "ang_err_namer_deg": 3.321612170088983, "ang_err_cycle_deg": 4.0602947255850115, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "1e444dec_seg0", "clip": "1e444dec-187d-55d5-80bb-3bc469b0c523", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 24, "instruction": "Go to the silver car.", "destination": "the silver car", "start_xy": [491, 760], "ang_err_namer_deg": 3.4537074314082847, "ang_err_cycle_deg": 3.6178418183670433, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "1e444dec_seg1", "clip": "1e444dec-187d-55d5-80bb-3bc469b0c523", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 26, "t_end": 61, "instruction": "Go to the area where the road curves slightly into the trees.", "destination": "the curve in the road", "start_xy": [498, 809], "ang_err_namer_deg": 3.321612170088983, "ang_err_cycle_deg": 4.0602947255850115, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "1e444dec_seg0", "clip": "1e444dec-187d-55d5-80bb-3bc469b0c523", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1f/1f0e53e9-06e8-519b-9401-a9ea6fc6cf75.json b/labels/outdoor/1f/1f0e53e9-06e8-519b-9401-a9ea6fc6cf75.json
index 4d111cad578f7a58209a18289de6aaf54942014b..b7fed8683bd017dc84e0acccfd41f65f1c6375c2 100644
--- a/labels/outdoor/1f/1f0e53e9-06e8-519b-9401-a9ea6fc6cf75.json
+++ b/labels/outdoor/1f/1f0e53e9-06e8-519b-9401-a9ea6fc6cf75.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign.", "destination": "road sign", "start_xy": [490, 558], "ang_err_namer_deg": 0.9899762817205056, "ang_err_cycle_deg": 7.548363666009523, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1f0e53e9_seg0", "clip": "1f0e53e9-06e8-519b-9401-a9ea6fc6cf75", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the sign by the trees on the right.", "destination": "the sign by the trees on the right", "start_xy": [602, 550], "ang_err_namer_deg": 8.380640651836925, "ang_err_cycle_deg": 8.609148694302073, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "1f0e53e9_seg1", "clip": "1f0e53e9-06e8-519b-9401-a9ea6fc6cf75", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the cow on the side of the road.", "destination": "the cow on the side of the road", "start_xy": [724, 639], "ang_err_namer_deg": 1.2373549533890524, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "1f0e53e9_seg2", "clip": "1f0e53e9-06e8-519b-9401-a9ea6fc6cf75", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign.", "destination": "road sign", "start_xy": [490, 558], "ang_err_namer_deg": 0.9899762817205056, "ang_err_cycle_deg": 7.548363666009523, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1f0e53e9_seg0", "clip": "1f0e53e9-06e8-519b-9401-a9ea6fc6cf75", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/1f/1f41668f-d7cd-5181-87bd-d375a51f9db6.json b/labels/outdoor/1f/1f41668f-d7cd-5181-87bd-d375a51f9db6.json
index 4c72a115d966adab4bb5c9950566379c0448c382..32e655a53db404bcbf5257307bdef2272c8ccd35 100644
--- a/labels/outdoor/1f/1f41668f-d7cd-5181-87bd-d375a51f9db6.json
+++ b/labels/outdoor/1f/1f41668f-d7cd-5181-87bd-d375a51f9db6.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow traffic sign in the middle of the road.", "destination": "the yellow traffic sign", "start_xy": [499, 579], "ang_err_namer_deg": 0.12093139275461044, "ang_err_cycle_deg": 0.38635285741866765, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1f41668f_seg0", "clip": "1f41668f-d7cd-5181-87bd-d375a51f9db6", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the gas station.", "destination": "the gas station", "start_xy": [451, 574], "ang_err_namer_deg": 0.8710585055135914, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "1f41668f_seg1", "clip": "1f41668f-d7cd-5181-87bd-d375a51f9db6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow traffic sign in the middle of the road.", "destination": "the yellow traffic sign", "start_xy": [499, 579], "ang_err_namer_deg": 0.12093139275461044, "ang_err_cycle_deg": 0.38635285741866765, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "1f41668f_seg0", "clip": "1f41668f-d7cd-5181-87bd-d375a51f9db6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/22/2232e027-e544-5803-97e9-941b8b5a198f.json b/labels/outdoor/22/2232e027-e544-5803-97e9-941b8b5a198f.json
index c64e19fd9778af7f5ac098ceb80abfa7d08f576c..a4580ab72619115142f8e18d26af5747ac0aa4fe 100644
--- a/labels/outdoor/22/2232e027-e544-5803-97e9-941b8b5a198f.json
+++ b/labels/outdoor/22/2232e027-e544-5803-97e9-941b8b5a198f.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the area behind the white trailer.", "destination": "the area behind the white trailer", "start_xy": [482, 559], "ang_err_namer_deg": 4.220241694992689, "ang_err_cycle_deg": 1.3381315506359621, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "2232e027_seg0", "clip": "2232e027-e544-5803-97e9-941b8b5a198f", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the 'Left Lane Closed Ahead' sign.", "destination": "Left Lane Closed Ahead sign", "start_xy": [454, 591], "ang_err_namer_deg": 3.21589034429329, "ang_err_cycle_deg": 3.28122330734458, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "2232e027_seg1", "clip": "2232e027-e544-5803-97e9-941b8b5a198f", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the intersection with the crosswalk.", "destination": "the intersection with the crosswalk", "start_xy": [487, 578], "ang_err_namer_deg": 3.005831199129342, "ang_err_cycle_deg": 5.16520265280284, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "2232e027_seg2", "clip": "2232e027-e544-5803-97e9-941b8b5a198f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 67, "instruction": "Go to the 'Left Lane Closed Ahead' sign.", "destination": "Left Lane Closed Ahead sign", "start_xy": [454, 591], "ang_err_namer_deg": 3.21589034429329, "ang_err_cycle_deg": 3.28122330734458, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "2232e027_seg1", "clip": "2232e027-e544-5803-97e9-941b8b5a198f", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the intersection with the crosswalk.", "destination": "the intersection with the crosswalk", "start_xy": [487, 578], "ang_err_namer_deg": 3.005831199129342, "ang_err_cycle_deg": 5.16520265280284, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "2232e027_seg2", "clip": "2232e027-e544-5803-97e9-941b8b5a198f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/22/22cabf60-e7ef-5d1b-ba4e-486d02e2ae50.json b/labels/outdoor/22/22cabf60-e7ef-5d1b-ba4e-486d02e2ae50.json
index 9d911cb223dbceb048c55c149cc84753b9c3e9d7..b6b4bb5f8ef93fc4c193cafe33678e0febeb14c0 100644
--- a/labels/outdoor/22/22cabf60-e7ef-5d1b-ba4e-486d02e2ae50.json
+++ b/labels/outdoor/22/22cabf60-e7ef-5d1b-ba4e-486d02e2ae50.json
@@ -1 +1 @@
-[{"t0": 30, "t_end": 65, "instruction": "Go to the green road sign.", "destination": "the green road sign", "start_xy": [714, 560], "ang_err_namer_deg": 6.717028776985822, "ang_err_cycle_deg": 6.717028776985822, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "22cabf60_seg0", "clip": "22cabf60-e7ef-5d1b-ba4e-486d02e2ae50", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 28, "instruction": "Go to the green road sign.", "destination": "the green road sign", "start_xy": [765, 625], "ang_err_namer_deg": 9.02630743085393, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "22cabf60_seg1", "clip": "22cabf60-e7ef-5d1b-ba4e-486d02e2ae50", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the area of the road where it curves to the right, bordered by snow-covered ground and trees.", "destination": "the right-curving road", "start_xy": [648, 745], "ang_err_namer_deg": 1.8865832868055439, "ang_err_cycle_deg": 4.2297404457796794, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "22cabf60_seg2", "clip": "22cabf60-e7ef-5d1b-ba4e-486d02e2ae50", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 12, "instruction": "Go to the area of the road where it curves to the right, bordered by snow-covered ground and trees.", "destination": "the right-curving road", "start_xy": [648, 745], "ang_err_namer_deg": 1.8865832868055439, "ang_err_cycle_deg": 4.2297404457796794, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "22cabf60_seg2", "clip": "22cabf60-e7ef-5d1b-ba4e-486d02e2ae50", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/22/22fae9df-c214-5cc9-9634-5bba4a5a1b2e.json b/labels/outdoor/22/22fae9df-c214-5cc9-9634-5bba4a5a1b2e.json
index 444b0fd4a25b2cc0acf345a7aa2ff64c5727468d..304e4dca372b077e14063953480fcc8dfa9dceaa 100644
--- a/labels/outdoor/22/22fae9df-c214-5cc9-9634-5bba4a5a1b2e.json
+++ b/labels/outdoor/22/22fae9df-c214-5cc9-9634-5bba4a5a1b2e.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the group of trees on the hill.", "destination": "the group of trees on the hill", "start_xy": [450, 380], "ang_err_namer_deg": 5.261051524450089, "ang_err_cycle_deg": 4.337658754775008, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "22fae9df_seg0", "clip": "22fae9df-c214-5cc9-9634-5bba4a5a1b2e", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the rocky outcrop on the hillside.", "destination": "the rocky outcrop", "start_xy": [490, 350], "ang_err_namer_deg": 4.242732698467192, "ang_err_cycle_deg": 11.042187658644288, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "22fae9df_seg1", "clip": "22fae9df-c214-5cc9-9634-5bba4a5a1b2e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 69, "t_end": 89, "instruction": "Go to the group of trees on the hill.", "destination": "the group of trees on the hill", "start_xy": [450, 380], "ang_err_namer_deg": 5.261051524450089, "ang_err_cycle_deg": 4.337658754775008, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "22fae9df_seg0", "clip": "22fae9df-c214-5cc9-9634-5bba4a5a1b2e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/23/23aba782-38bb-584e-81fd-c66da3a8414c.json b/labels/outdoor/23/23aba782-38bb-584e-81fd-c66da3a8414c.json
index 1faa2279f7b171db94f8e15f1bea5c526da797b3..49235cf6c9d9daed3769795b9ac257a3c1ad4dab 100644
--- a/labels/outdoor/23/23aba782-38bb-584e-81fd-c66da3a8414c.json
+++ b/labels/outdoor/23/23aba782-38bb-584e-81fd-c66da3a8414c.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the brown house with the red roof.", "destination": "the brown house with the red roof", "start_xy": [372, 427], "ang_err_namer_deg": 7.575910139546486, "ang_err_cycle_deg": 7.507265497622485, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "23aba782_seg0", "clip": "23aba782-38bb-584e-81fd-c66da3a8414c", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the white car parked by the house.", "destination": "the white car", "start_xy": [257, 571], "ang_err_namer_deg": 1.5727773347995098, "ang_err_cycle_deg": 1.5727773347995098, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "23aba782_seg1", "clip": "23aba782-38bb-584e-81fd-c66da3a8414c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the house with the dark tiled exterior.", "destination": "the house with the dark tiled exterior", "start_xy": [866, 381], "ang_err_namer_deg": 10.45878938188875, "ang_err_cycle_deg": 10.28295212637948, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "23aba782_seg2", "clip": "23aba782-38bb-584e-81fd-c66da3a8414c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the house with the dark tiled exterior.", "destination": "the house with the dark tiled exterior", "start_xy": [866, 381], "ang_err_namer_deg": 10.45878938188875, "ang_err_cycle_deg": 10.28295212637948, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "23aba782_seg2", "clip": "23aba782-38bb-584e-81fd-c66da3a8414c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/23/23f439cf-38f3-5eb6-b607-d786855536bd.json b/labels/outdoor/23/23f439cf-38f3-5eb6-b607-d786855536bd.json
index e72d8233fe80eed426b69258d6b3473d41bad842..d436db1685f7f948275947ba575b44165fe85fa6 100644
--- a/labels/outdoor/23/23f439cf-38f3-5eb6-b607-d786855536bd.json
+++ b/labels/outdoor/23/23f439cf-38f3-5eb6-b607-d786855536bd.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the trash bins on the right side of the street.", "destination": "the area with the trash bins", "start_xy": [750, 650], "ang_err_namer_deg": 6.490744574435945, "ang_err_cycle_deg": 5.4805236696148265, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "23f439cf_seg0", "clip": "23f439cf-38f3-5eb6-b607-d786855536bd", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 34, "instruction": "Go to the corner building with the Centro Dental sign.", "destination": "the corner building with the Centro Dental sign", "start_xy": [757, 511], "ang_err_namer_deg": 8.683373427891231, "ang_err_cycle_deg": 8.76003673322884, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "23f439cf_seg1", "clip": "23f439cf-38f3-5eb6-b607-d786855536bd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 34, "instruction": "Go to the corner building with the Centro Dental sign.", "destination": "the corner building with the Centro Dental sign", "start_xy": [757, 511], "ang_err_namer_deg": 8.683373427891231, "ang_err_cycle_deg": 8.76003673322884, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "23f439cf_seg1", "clip": "23f439cf-38f3-5eb6-b607-d786855536bd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/24/242de100-ab3d-50cd-9fce-6a74346f9819.json b/labels/outdoor/24/242de100-ab3d-50cd-9fce-6a74346f9819.json
index 9de1ef0856950026bac90899a66df84e862a0e11..234704f2d94d2085509d8765268bcdabb48d6092 100644
--- a/labels/outdoor/24/242de100-ab3d-50cd-9fce-6a74346f9819.json
+++ b/labels/outdoor/24/242de100-ab3d-50cd-9fce-6a74346f9819.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the street lamp by the guardrail.", "destination": "the street lamp by the guardrail", "start_xy": [628, 448], "ang_err_namer_deg": 4.413371313240507, "ang_err_cycle_deg": 5.094608922908329, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "242de100_seg0", "clip": "242de100-ab3d-50cd-9fce-6a74346f9819", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the crane.", "destination": "the crane", "start_xy": [454, 516], "ang_err_namer_deg": 0.013985423803222496, "ang_err_cycle_deg": 0.8432218802920715, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "242de100_seg1", "clip": "242de100-ab3d-50cd-9fce-6a74346f9819", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the street lamp by the guardrail.", "destination": "the street lamp by the guardrail", "start_xy": [628, 448], "ang_err_namer_deg": 4.413371313240507, "ang_err_cycle_deg": 5.094608922908329, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "242de100_seg0", "clip": "242de100-ab3d-50cd-9fce-6a74346f9819", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/24/242f1580-6611-5802-94e9-f9592155fc3b.json b/labels/outdoor/24/242f1580-6611-5802-94e9-f9592155fc3b.json
index bce9905fb46d6d0cb8c938209205881b790d8f8d..0ee8adbfb1fa39c354b4de1fe6aefe5331346801 100644
--- a/labels/outdoor/24/242f1580-6611-5802-94e9-f9592155fc3b.json
+++ b/labels/outdoor/24/242f1580-6611-5802-94e9-f9592155fc3b.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [625, 583], "ang_err_namer_deg": 10.086678091002499, "ang_err_cycle_deg": 9.841539605987608, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "242f1580_seg0", "clip": "242f1580-6611-5802-94e9-f9592155fc3b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow street lamp.", "destination": "the yellow street lamp", "start_xy": [413, 506], "ang_err_namer_deg": 8.606344786501499, "ang_err_cycle_deg": 8.523275595854749, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "242f1580_seg1", "clip": "242f1580-6611-5802-94e9-f9592155fc3b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow ornamental light pole.", "destination": "yellow ornamental light pole", "start_xy": [574, 557], "ang_err_namer_deg": 5.750219264666763, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "242f1580_seg2", "clip": "242f1580-6611-5802-94e9-f9592155fc3b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [625, 583], "ang_err_namer_deg": 10.086678091002499, "ang_err_cycle_deg": 9.841539605987608, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "242f1580_seg0", "clip": "242f1580-6611-5802-94e9-f9592155fc3b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow street lamp.", "destination": "the yellow street lamp", "start_xy": [413, 506], "ang_err_namer_deg": 8.606344786501499, "ang_err_cycle_deg": 8.523275595854749, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "242f1580_seg1", "clip": "242f1580-6611-5802-94e9-f9592155fc3b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/24/2497ca8b-f11e-509d-b76d-87bd1dd77a89.json b/labels/outdoor/24/2497ca8b-f11e-509d-b76d-87bd1dd77a89.json
index bd615cb8103137285dfa1d8dffa16990337f36b3..8420fa2c2e6d741576d8eb113cc06b0c5ba467b6 100644
--- a/labels/outdoor/24/2497ca8b-f11e-509d-b76d-87bd1dd77a89.json
+++ b/labels/outdoor/24/2497ca8b-f11e-509d-b76d-87bd1dd77a89.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 81, "instruction": "Go to the mountain in the distance.", "destination": "the distant mountain peak", "start_xy": [788, 512], "ang_err_namer_deg": 4.3783891361321725, "ang_err_cycle_deg": 10.334093736897858, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016666666666, "tier": "L", "id": "2497ca8b_seg0", "clip": "2497ca8b-f11e-509d-b76d-87bd1dd77a89", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 48, "instruction": "Go to the area by the road bend near the rock wall.", "destination": "the area by the road bend near the rock wall", "start_xy": [585, 285], "ang_err_namer_deg": 4.454634578565956, "ang_err_cycle_deg": 4.108857775080609, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2497ca8b_seg1", "clip": "2497ca8b-f11e-509d-b76d-87bd1dd77a89", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the radio tower.", "destination": "radio tower", "start_xy": [444, 286], "ang_err_namer_deg": 2.7644467158220976, "ang_err_cycle_deg": 2.6020226318914172, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "2497ca8b_seg2", "clip": "2497ca8b-f11e-509d-b76d-87bd1dd77a89", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 48, "instruction": "Go to the area by the road bend near the rock wall.", "destination": "the area by the road bend near the rock wall", "start_xy": [585, 285], "ang_err_namer_deg": 4.454634578565956, "ang_err_cycle_deg": 4.108857775080609, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2497ca8b_seg1", "clip": "2497ca8b-f11e-509d-b76d-87bd1dd77a89", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/24/24ca8601-164d-5cbe-a56b-e714fec45600.json b/labels/outdoor/24/24ca8601-164d-5cbe-a56b-e714fec45600.json
index 90348468c6011a08d32982ced3accf46b9f5065a..dc6678646988d8ba4e9625f1cca7e023137c40b7 100644
--- a/labels/outdoor/24/24ca8601-164d-5cbe-a56b-e714fec45600.json
+++ b/labels/outdoor/24/24ca8601-164d-5cbe-a56b-e714fec45600.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the traffic sign.", "destination": "traffic sign", "start_xy": [677, 630], "ang_err_namer_deg": 1.667776030938887, "ang_err_cycle_deg": 1.5845985517539583, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "24ca8601_seg0", "clip": "24ca8601-164d-5cbe-a56b-e714fec45600", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the stone marker on the right side of the road.", "destination": "the stone marker on the right side of the road", "start_xy": [450, 700], "ang_err_namer_deg": 3.0689328480709985, "ang_err_cycle_deg": 3.4249307691888777, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "24ca8601_seg1", "clip": "24ca8601-164d-5cbe-a56b-e714fec45600", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 14, "t_end": 24, "instruction": "Go to the stone marker on the right side of the road.", "destination": "the stone marker on the right side of the road", "start_xy": [450, 700], "ang_err_namer_deg": 3.0689328480709985, "ang_err_cycle_deg": 3.4249307691888777, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "24ca8601_seg1", "clip": "24ca8601-164d-5cbe-a56b-e714fec45600", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/25/2561b9ad-44f1-5196-b148-1c484447720c.json b/labels/outdoor/25/2561b9ad-44f1-5196-b148-1c484447720c.json
index f186f3c671e0f4afc15d1c9239a4bd39b51822ad..11bc6e28aecc560c583329c211519e9178406a1f 100644
--- a/labels/outdoor/25/2561b9ad-44f1-5196-b148-1c484447720c.json
+++ b/labels/outdoor/25/2561b9ad-44f1-5196-b148-1c484447720c.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the railway section with the prominent rocks on the right side.", "destination": "rocky side of the track", "start_xy": [750, 500], "ang_err_namer_deg": 10.594340010282753, "ang_err_cycle_deg": 16.949384563917096, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2561b9ad_seg0", "clip": "2561b9ad-44f1-5196-b148-1c484447720c", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area of the utility pole by the tracks.", "destination": "the utility pole by the tracks", "start_xy": [401, 412], "ang_err_namer_deg": 8.337408602596215, "ang_err_cycle_deg": 8.522930253987253, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2561b9ad_seg1", "clip": "2561b9ad-44f1-5196-b148-1c484447720c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the small black equipment box by the side of the tracks.", "destination": "the small black equipment box", "start_xy": [427, 526], "ang_err_namer_deg": 4.6399958703102495, "ang_err_cycle_deg": 2.707638654740947, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "2561b9ad_seg2", "clip": "2561b9ad-44f1-5196-b148-1c484447720c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the area of the utility pole by the tracks.", "destination": "the utility pole by the tracks", "start_xy": [401, 412], "ang_err_namer_deg": 8.337408602596215, "ang_err_cycle_deg": 8.522930253987253, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2561b9ad_seg1", "clip": "2561b9ad-44f1-5196-b148-1c484447720c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/25/258dcb8f-57f7-52a4-a069-0999617e981b.json b/labels/outdoor/25/258dcb8f-57f7-52a4-a069-0999617e981b.json
index fef268092bc2bac502083e3431826085087b7211..71ec980a6bec69e2f53ffe7e192399034032877e 100644
--- a/labels/outdoor/25/258dcb8f-57f7-52a4-a069-0999617e981b.json
+++ b/labels/outdoor/25/258dcb8f-57f7-52a4-a069-0999617e981b.json
@@ -1 +1 @@
-[{"t0": 37, "t_end": 54, "instruction": "Go to the yellow road sign on the right.", "destination": "the yellow road sign", "start_xy": [566, 591], "ang_err_namer_deg": 4.078464294313914, "ang_err_cycle_deg": 4.231448176583123, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "258dcb8f_seg0", "clip": "258dcb8f-57f7-52a4-a069-0999617e981b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 25, "instruction": "Go to the road sign on the right.", "destination": "the road sign", "start_xy": [560, 595], "ang_err_namer_deg": 8.614391046419387, "ang_err_cycle_deg": 8.614391046419387, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "258dcb8f_seg1", "clip": "258dcb8f-57f7-52a4-a069-0999617e981b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 37, "t_end": 54, "instruction": "Go to the yellow road sign on the right.", "destination": "the yellow road sign", "start_xy": [566, 591], "ang_err_namer_deg": 4.078464294313914, "ang_err_cycle_deg": 4.231448176583123, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "258dcb8f_seg0", "clip": "258dcb8f-57f7-52a4-a069-0999617e981b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/25/25d998af-f44f-5d13-ab70-9f84f462a6be.json b/labels/outdoor/25/25d998af-f44f-5d13-ab70-9f84f462a6be.json
index 19619b8e125cffbd8c044d4dc4042135fbfb8421..2d9d1bc20e7d5933a74982d15c4c45b6c41588ad 100644
--- a/labels/outdoor/25/25d998af-f44f-5d13-ab70-9f84f462a6be.json
+++ b/labels/outdoor/25/25d998af-f44f-5d13-ab70-9f84f462a6be.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the rustic wooden shed by the road.", "destination": "the rustic wooden shed", "start_xy": [490, 622], "ang_err_namer_deg": 10.501726077553059, "ang_err_cycle_deg": 9.355910588644571, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "25d998af_seg0", "clip": "25d998af-f44f-5d13-ab70-9f84f462a6be", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [482, 792], "ang_err_namer_deg": 8.942922070760527, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "25d998af_seg1", "clip": "25d998af-f44f-5d13-ab70-9f84f462a6be", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the rustic wooden shed by the road.", "destination": "the rustic wooden shed", "start_xy": [490, 622], "ang_err_namer_deg": 10.501726077553059, "ang_err_cycle_deg": 9.355910588644571, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "25d998af_seg0", "clip": "25d998af-f44f-5d13-ab70-9f84f462a6be", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/26/269ef8c2-4933-5dc6-9129-152e9bf22ca0.json b/labels/outdoor/26/269ef8c2-4933-5dc6-9129-152e9bf22ca0.json
index 2b169c921df1de3e7c18fb39d702151843e97334..a3cda1e0e0bb2e9219d368e62bffd9bbfe05fbb6 100644
--- a/labels/outdoor/26/269ef8c2-4933-5dc6-9129-152e9bf22ca0.json
+++ b/labels/outdoor/26/269ef8c2-4933-5dc6-9129-152e9bf22ca0.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the intersection of the two streets.", "destination": "the intersection", "start_xy": [485, 558], "ang_err_namer_deg": 10.674425480927972, "ang_err_cycle_deg": 3.588873276747734, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "269ef8c2_seg0", "clip": "269ef8c2-4933-5dc6-9129-152e9bf22ca0", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the dark sports car parked on the street.", "destination": "the dark sports car", "start_xy": [498, 622], "ang_err_namer_deg": 7.558350837436882, "ang_err_cycle_deg": 9.809873628111747, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "269ef8c2_seg1", "clip": "269ef8c2-4933-5dc6-9129-152e9bf22ca0", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the area by the grey car parked on the right.", "destination": "the grey car", "start_xy": [570, 643], "ang_err_namer_deg": 5.124916488477754, "ang_err_cycle_deg": 5.467464732068526, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "269ef8c2_seg2", "clip": "269ef8c2-4933-5dc6-9129-152e9bf22ca0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the intersection of the two streets.", "destination": "the intersection", "start_xy": [485, 558], "ang_err_namer_deg": 10.674425480927972, "ang_err_cycle_deg": 3.588873276747734, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "269ef8c2_seg0", "clip": "269ef8c2-4933-5dc6-9129-152e9bf22ca0", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the dark sports car parked on the street.", "destination": "the dark sports car", "start_xy": [498, 622], "ang_err_namer_deg": 7.558350837436882, "ang_err_cycle_deg": 9.809873628111747, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "269ef8c2_seg1", "clip": "269ef8c2-4933-5dc6-9129-152e9bf22ca0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/26/26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e.json b/labels/outdoor/26/26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e.json
index 81c283aa1bc580d4e44f909537f7693cb7a232fa..5ebb317708163014a717235aafd056ce12c3fdd6 100644
--- a/labels/outdoor/26/26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e.json
+++ b/labels/outdoor/26/26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the stone mile marker on the right side of the road.", "destination": "the stone mile marker", "start_xy": [546, 648], "ang_err_namer_deg": 4.396393242330424, "ang_err_cycle_deg": 4.629950812936635, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "26f879cf_seg0", "clip": "26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the end of the road.", "destination": "the end of the road", "start_xy": [450, 550], "ang_err_namer_deg": 2.0224705136093353, "ang_err_cycle_deg": 0.3075016124719132, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "26f879cf_seg1", "clip": "26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the row of white fence posts.", "destination": "the row of white fence posts", "start_xy": [372, 643], "ang_err_namer_deg": 2.27980595888512, "ang_err_cycle_deg": 2.2039581014425638, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "26f879cf_seg2", "clip": "26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the stone mile marker on the right side of the road.", "destination": "the stone mile marker", "start_xy": [546, 648], "ang_err_namer_deg": 4.396393242330424, "ang_err_cycle_deg": 4.629950812936635, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "26f879cf_seg0", "clip": "26f879cf-2d7b-5e8a-a4aa-e6ad4032f59e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/27/2708998f-e0d3-560c-a48e-58361447d819.json b/labels/outdoor/27/2708998f-e0d3-560c-a48e-58361447d819.json
index 08c07634b54e8ac36470d4a8458acc0fac18f4ff..58032994ca495a59d0e8cf16fc8907a84bd9701d 100644
--- a/labels/outdoor/27/2708998f-e0d3-560c-a48e-58361447d819.json
+++ b/labels/outdoor/27/2708998f-e0d3-560c-a48e-58361447d819.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the large decorative sign board on the right side of the road.", "destination": "the large decorative sign board on the right", "start_xy": [583, 622], "ang_err_namer_deg": 10.658482338251906, "ang_err_cycle_deg": 6.383184565839548, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2708998f_seg0", "clip": "2708998f-e0d3-560c-a48e-58361447d819", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the highway toll gate entrance.", "destination": "the highway toll gate entrance", "start_xy": [427, 621], "ang_err_namer_deg": 3.2630639780665693, "ang_err_cycle_deg": 7.892295793161554, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "2708998f_seg1", "clip": "2708998f-e0d3-560c-a48e-58361447d819", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the stone entrance gate.", "destination": "stone entrance gate", "start_xy": [583, 648], "ang_err_namer_deg": 5.403344793850107, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "2708998f_seg2", "clip": "2708998f-e0d3-560c-a48e-58361447d819", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the large decorative sign board on the right side of the road.", "destination": "the large decorative sign board on the right", "start_xy": [583, 622], "ang_err_namer_deg": 10.658482338251906, "ang_err_cycle_deg": 6.383184565839548, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2708998f_seg0", "clip": "2708998f-e0d3-560c-a48e-58361447d819", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/27/277b4ec9-da8d-550b-b7b4-083f44e9bb71.json b/labels/outdoor/27/277b4ec9-da8d-550b-b7b4-083f44e9bb71.json
index 101a663ec65c418ad50ad43f0dd554df5806ea41..0b5725032471b6cfd0392fd4cb0047782f23cae4 100644
--- a/labels/outdoor/27/277b4ec9-da8d-550b-b7b4-083f44e9bb71.json
+++ b/labels/outdoor/27/277b4ec9-da8d-550b-b7b4-083f44e9bb71.json
@@ -1 +1 @@
-[{"t0": 15, "t_end": 47, "instruction": "Go to the opening at the end of the rocky cut.", "destination": "the opening at the end of the rocky cut", "start_xy": [558, 556], "ang_err_namer_deg": 1.6061253564739033, "ang_err_cycle_deg": 2.090902038021814, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "277b4ec9_seg0", "clip": "277b4ec9-da8d-550b-b7b4-083f44e9bb71", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [782, 454], "ang_err_namer_deg": 4.850077695725514, "ang_err_cycle_deg": 4.7383143349073595, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "277b4ec9_seg1", "clip": "277b4ec9-da8d-550b-b7b4-083f44e9bb71", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 47, "instruction": "Go to the opening at the end of the rocky cut.", "destination": "the opening at the end of the rocky cut", "start_xy": [558, 556], "ang_err_namer_deg": 1.6061253564739033, "ang_err_cycle_deg": 2.090902038021814, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "277b4ec9_seg0", "clip": "277b4ec9-da8d-550b-b7b4-083f44e9bb71", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/27/27b6c31e-3bc3-5c61-9b1e-49419ab772b9.json b/labels/outdoor/27/27b6c31e-3bc3-5c61-9b1e-49419ab772b9.json
index bb3d7cbf8889ae4713eae1679bd52ed3aaee28a8..16de19cadaef717ed9ca63a1dd6354478a94a97d 100644
--- a/labels/outdoor/27/27b6c31e-3bc3-5c61-9b1e-49419ab772b9.json
+++ b/labels/outdoor/27/27b6c31e-3bc3-5c61-9b1e-49419ab772b9.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the pile of pipes by the tracks.", "destination": "the pile of pipes", "start_xy": [560, 640], "ang_err_namer_deg": 11.398547528509237, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "27b6c31e_seg0", "clip": "27b6c31e-3bc3-5c61-9b1e-49419ab772b9", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area of the utility pole along the train tracks.", "destination": "the utility pole along the train tracks", "start_xy": [465, 501], "ang_err_namer_deg": 3.4993386896919594, "ang_err_cycle_deg": 3.5876961869168302, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "27b6c31e_seg1", "clip": "27b6c31e-3bc3-5c61-9b1e-49419ab772b9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area of the utility pole along the train tracks.", "destination": "the utility pole along the train tracks", "start_xy": [465, 501], "ang_err_namer_deg": 3.4993386896919594, "ang_err_cycle_deg": 3.5876961869168302, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "27b6c31e_seg1", "clip": "27b6c31e-3bc3-5c61-9b1e-49419ab772b9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/27/27ea993e-2ca8-5571-8271-550087de6106.json b/labels/outdoor/27/27ea993e-2ca8-5571-8271-550087de6106.json
index cd8b0152d6a56567c7b75458345f6f2e7c3491a4..cb33251ccdf45b9d1a00080ee3cae535e2c6d5a5 100644
--- a/labels/outdoor/27/27ea993e-2ca8-5571-8271-550087de6106.json
+++ b/labels/outdoor/27/27ea993e-2ca8-5571-8271-550087de6106.json
@@ -1 +1 @@
-[{"t0": 33, "t_end": 68, "instruction": "Go to the end of the cobblestone road.", "destination": "the end of the cobblestone road", "start_xy": [482, 782], "ang_err_namer_deg": 13.149280730159074, "ang_err_cycle_deg": 7.453583921543007, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "27ea993e_seg0", "clip": "27ea993e-2ca8-5571-8271-550087de6106", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 31, "instruction": "Go to the area by the white car.", "destination": "the white car", "start_xy": [136, 574], "ang_err_namer_deg": 3.723990522318029, "ang_err_cycle_deg": 3.863612157611188, "confidence": "B", "arrival_ok": false, "duration_s": 4.95495, "tier": "M", "id": "27ea993e_seg1", "clip": "27ea993e-2ca8-5571-8271-550087de6106", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 33, "t_end": 68, "instruction": "Go to the end of the cobblestone road.", "destination": "the end of the cobblestone road", "start_xy": [482, 782], "ang_err_namer_deg": 13.149280730159074, "ang_err_cycle_deg": 7.453583921543007, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "27ea993e_seg0", "clip": "27ea993e-2ca8-5571-8271-550087de6106", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/28/2829fc25-c382-5ebc-8236-71d625185fd2.json b/labels/outdoor/28/2829fc25-c382-5ebc-8236-71d625185fd2.json
index 493cec245d490165f058f26b7b55d20e9a5a8a58..7e827c34454cc654ec98b23d9aaacecdb58f23ba 100644
--- a/labels/outdoor/28/2829fc25-c382-5ebc-8236-71d625185fd2.json
+++ b/labels/outdoor/28/2829fc25-c382-5ebc-8236-71d625185fd2.json
@@ -1 +1 @@
-[{"t0": 18, "t_end": 34, "instruction": "Go to the wooden chalet.", "destination": "wooden chalet", "start_xy": [105, 484], "ang_err_namer_deg": 13.273082837486191, "ang_err_cycle_deg": 13.273082837486191, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "2829fc25_seg0", "clip": "2829fc25-c382-5ebc-8236-71d625185fd2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the end of the road near the guardrail.", "destination": "the end of the road near the guardrail", "start_xy": [450, 700], "ang_err_namer_deg": 12.878236891478474, "ang_err_cycle_deg": 1.5997125582837808, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "2829fc25_seg1", "clip": "2829fc25-c382-5ebc-8236-71d625185fd2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 16, "instruction": "Go to the end of the road near the guardrail.", "destination": "the end of the road near the guardrail", "start_xy": [450, 700], "ang_err_namer_deg": 12.878236891478474, "ang_err_cycle_deg": 1.5997125582837808, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "2829fc25_seg1", "clip": "2829fc25-c382-5ebc-8236-71d625185fd2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/28/284e6e62-d07e-5335-8575-32df29790d0a.json b/labels/outdoor/28/284e6e62-d07e-5335-8575-32df29790d0a.json
index 11110be658537402f004ba9687f4b352d1df4e6c..d0e078ba0e3ba0399bd56e08ab88759554e20599 100644
--- a/labels/outdoor/28/284e6e62-d07e-5335-8575-32df29790d0a.json
+++ b/labels/outdoor/28/284e6e62-d07e-5335-8575-32df29790d0a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the bushes and electrical box along the side of the hotel building.", "destination": "bushes and electrical box along the side of the hotel", "start_xy": [237, 579], "ang_err_namer_deg": 2.8430466194484785, "ang_err_cycle_deg": 11.473104201473644, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "284e6e62_seg0", "clip": "284e6e62-d07e-5335-8575-32df29790d0a", "source": "spatialvid_v3"}, {"t0": 30, "t_end": 44, "instruction": "Go to the intersection of the two streets.", "destination": "the intersection", "start_xy": [485, 481], "ang_err_namer_deg": 3.559456552499584, "ang_err_cycle_deg": 3.559456552499584, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "284e6e62_seg1", "clip": "284e6e62-d07e-5335-8575-32df29790d0a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the bushes and electrical box along the side of the hotel building.", "destination": "bushes and electrical box along the side of the hotel", "start_xy": [237, 579], "ang_err_namer_deg": 2.8430466194484785, "ang_err_cycle_deg": 11.473104201473644, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "284e6e62_seg0", "clip": "284e6e62-d07e-5335-8575-32df29790d0a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/29/292e1e77-0052-5a25-8e68-40c164977f9b.json b/labels/outdoor/29/292e1e77-0052-5a25-8e68-40c164977f9b.json
index 7c3b32101fa16bbbc3c64f6cd64ec35442aa1c10..8481d1f176b1956447163415720868cb4ccab68b 100644
--- a/labels/outdoor/29/292e1e77-0052-5a25-8e68-40c164977f9b.json
+++ b/labels/outdoor/29/292e1e77-0052-5a25-8e68-40c164977f9b.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the guardrail along the winding road.", "destination": "the area by the guardrail along the winding road", "start_xy": [750, 700], "ang_err_namer_deg": 3.522945579196451, "ang_err_cycle_deg": 4.73077343623236, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "292e1e77_seg0", "clip": "292e1e77-0052-5a25-8e68-40c164977f9b", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [595, 595], "ang_err_namer_deg": 2.8882070979000343, "ang_err_cycle_deg": 2.5934743082797826, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "292e1e77_seg1", "clip": "292e1e77-0052-5a25-8e68-40c164977f9b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [595, 595], "ang_err_namer_deg": 2.8882070979000343, "ang_err_cycle_deg": 2.5934743082797826, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "292e1e77_seg1", "clip": "292e1e77-0052-5a25-8e68-40c164977f9b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/29/29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd.json b/labels/outdoor/29/29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd.json
index 26207bffdde71e631baf8c66362302246f85b636..44f1f57c454eee538a35111291c4c65a3ab5117e 100644
--- a/labels/outdoor/29/29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd.json
+++ b/labels/outdoor/29/29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the metal railing along the sidewalk.", "destination": "the metal railing along the sidewalk", "start_xy": [605, 765], "ang_err_namer_deg": 1.6493581621882143, "ang_err_cycle_deg": 1.6493581621882143, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "29b8fd2d_seg0", "clip": "29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the intersection with the crosswalk.", "destination": "the intersection with the crosswalk", "start_xy": [482, 745], "ang_err_namer_deg": 9.300489299287493, "ang_err_cycle_deg": 0.3162652780617613, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "29b8fd2d_seg1", "clip": "29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the bus stop.", "destination": "the bus stop", "start_xy": [482, 703], "ang_err_namer_deg": 4.760687488383197, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "29b8fd2d_seg2", "clip": "29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the intersection with the crosswalk.", "destination": "the intersection with the crosswalk", "start_xy": [482, 745], "ang_err_namer_deg": 9.300489299287493, "ang_err_cycle_deg": 0.3162652780617613, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "29b8fd2d_seg1", "clip": "29b8fd2d-0c3c-5cf3-8464-02a5b72c11cd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/29/29d7320b-eb02-5f63-9315-1424955e4c11.json b/labels/outdoor/29/29d7320b-eb02-5f63-9315-1424955e4c11.json
index 1072b8724a078fa1a2c43601b05f5d4b3f19eb9e..66c2419a933586f1d299c30207d9bcd55b7bf5c6 100644
--- a/labels/outdoor/29/29d7320b-eb02-5f63-9315-1424955e4c11.json
+++ b/labels/outdoor/29/29d7320b-eb02-5f63-9315-1424955e4c11.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the silver station wagon parked on the side of the road.", "destination": "the silver station wagon", "start_xy": [622, 692], "ang_err_namer_deg": 1.3791654789490728, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "29d7320b_seg0", "clip": "29d7320b-eb02-5f63-9315-1424955e4c11", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the silver car.", "destination": "the silver car", "start_xy": [655, 648], "ang_err_namer_deg": 4.68482364773222, "ang_err_cycle_deg": 5.200748526261129, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "29d7320b_seg1", "clip": "29d7320b-eb02-5f63-9315-1424955e4c11", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the end of the road near the green utility pole.", "destination": "the utility pole", "start_xy": [923, 427], "ang_err_namer_deg": 9.964759923696297, "ang_err_cycle_deg": 8.365105335264692, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "29d7320b_seg2", "clip": "29d7320b-eb02-5f63-9315-1424955e4c11", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the end of the road near the green utility pole.", "destination": "the utility pole", "start_xy": [923, 427], "ang_err_namer_deg": 9.964759923696297, "ang_err_cycle_deg": 8.365105335264692, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "29d7320b_seg2", "clip": "29d7320b-eb02-5f63-9315-1424955e4c11", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2a/2ac7c5db-e45a-5edd-8a67-3ea058f0ff54.json b/labels/outdoor/2a/2ac7c5db-e45a-5edd-8a67-3ea058f0ff54.json
index f188ecd18685f123d2f6000bc490114258135f46..668cf5cf222aae66bd112db55ada362d8523b030 100644
--- a/labels/outdoor/2a/2ac7c5db-e45a-5edd-8a67-3ea058f0ff54.json
+++ b/labels/outdoor/2a/2ac7c5db-e45a-5edd-8a67-3ea058f0ff54.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the large road sign.", "destination": "the large road sign", "start_xy": [612, 630], "ang_err_namer_deg": 3.218479912653258, "ang_err_cycle_deg": 3.1341815606698282, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "2ac7c5db_seg0", "clip": "2ac7c5db-e45a-5edd-8a67-3ea058f0ff54", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the white car.", "destination": "white car", "start_xy": [614, 688], "ang_err_namer_deg": 2.797343530820708, "ang_err_cycle_deg": 2.9658978196483927, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "2ac7c5db_seg1", "clip": "2ac7c5db-e45a-5edd-8a67-3ea058f0ff54", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [707, 703], "ang_err_namer_deg": 1.8942454132181041, "ang_err_cycle_deg": 4.617761237370521, "confidence": "A", "arrival_ok": true, "duration_s": 4.954949739487396, "tier": "M", "id": "2ac7c5db_seg2", "clip": "2ac7c5db-e45a-5edd-8a67-3ea058f0ff54", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 29, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [707, 703], "ang_err_namer_deg": 1.8942454132181041, "ang_err_cycle_deg": 4.617761237370521, "confidence": "A", "arrival_ok": true, "duration_s": 4.954949739487396, "tier": "M", "id": "2ac7c5db_seg2", "clip": "2ac7c5db-e45a-5edd-8a67-3ea058f0ff54", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2b03c4b5-1ef5-5506-abe2-7cf9885650c1.json b/labels/outdoor/2b/2b03c4b5-1ef5-5506-abe2-7cf9885650c1.json
index ec517796a00d6ba2d1d0b7a6159475dafbdb18da..6aeebe84cda0dc8534de2d625c61264ca78a2126 100644
--- a/labels/outdoor/2b/2b03c4b5-1ef5-5506-abe2-7cf9885650c1.json
+++ b/labels/outdoor/2b/2b03c4b5-1ef5-5506-abe2-7cf9885650c1.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 74, "instruction": "Go to the brown building on the right.", "destination": "the brown building on the right", "start_xy": [315, 558], "ang_err_namer_deg": 7.629006839772686, "ang_err_cycle_deg": 7.240857908180723, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "2b03c4b5_seg0", "clip": "2b03c4b5-1ef5-5506-abe2-7cf9885650c1", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 34, "instruction": "Go to the area by the street lamp.", "destination": "the street lamp", "start_xy": [476, 566], "ang_err_namer_deg": 1.2446166313421876, "ang_err_cycle_deg": 1.3537888408556735, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2b03c4b5_seg1", "clip": "2b03c4b5-1ef5-5506-abe2-7cf9885650c1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 34, "instruction": "Go to the area by the street lamp.", "destination": "the street lamp", "start_xy": [476, 566], "ang_err_namer_deg": 1.2446166313421876, "ang_err_cycle_deg": 1.3537888408556735, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2b03c4b5_seg1", "clip": "2b03c4b5-1ef5-5506-abe2-7cf9885650c1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2b2fb52f-5214-53a6-98e9-fb9f5f47b453.json b/labels/outdoor/2b/2b2fb52f-5214-53a6-98e9-fb9f5f47b453.json
index 59bb293e5aaa892bb1134e20ce117346584f237f..986182a3e8de5a31ed212a8df735f7f588db88aa 100644
--- a/labels/outdoor/2b/2b2fb52f-5214-53a6-98e9-fb9f5f47b453.json
+++ b/labels/outdoor/2b/2b2fb52f-5214-53a6-98e9-fb9f5f47b453.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the metal guardrail along the road.", "destination": "the metal guardrail", "start_xy": [508, 622], "ang_err_namer_deg": 2.7196594321346512, "ang_err_cycle_deg": 2.480794578738033, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2b2fb52f_seg0", "clip": "2b2fb52f-5214-53a6-98e9-fb9f5f47b453", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the sign on the right.", "destination": "the sign on the right", "start_xy": [575, 583], "ang_err_namer_deg": 7.5822476553337275, "ang_err_cycle_deg": 7.661015868351213, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "2b2fb52f_seg1", "clip": "2b2fb52f-5214-53a6-98e9-fb9f5f47b453", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area with the pink sign.", "destination": "the area with the pink sign", "start_xy": [412, 595], "ang_err_namer_deg": 5.421703947192869, "ang_err_cycle_deg": 5.421703947192869, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "2b2fb52f_seg2", "clip": "2b2fb52f-5214-53a6-98e9-fb9f5f47b453", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the metal guardrail along the road.", "destination": "the metal guardrail", "start_xy": [508, 622], "ang_err_namer_deg": 2.7196594321346512, "ang_err_cycle_deg": 2.480794578738033, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2b2fb52f_seg0", "clip": "2b2fb52f-5214-53a6-98e9-fb9f5f47b453", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2b4615c0-069c-5382-ac86-7d3f20bb0aef.json b/labels/outdoor/2b/2b4615c0-069c-5382-ac86-7d3f20bb0aef.json
index 2679428a2b87b6e8c69f01f037f8dd7fed5ec8fa..f763137b24da5a6642b55b33befea6ee6ca4d328 100644
--- a/labels/outdoor/2b/2b4615c0-069c-5382-ac86-7d3f20bb0aef.json
+++ b/labels/outdoor/2b/2b4615c0-069c-5382-ac86-7d3f20bb0aef.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 51, "instruction": "Go to the intersection with the red-painted bus lane.", "destination": "the intersection with the red-painted bus lane", "start_xy": [482, 791], "ang_err_namer_deg": 0.8251011263336681, "ang_err_cycle_deg": 17.16937724542183, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "2b4615c0_seg0", "clip": "2b4615c0-069c-5382-ac86-7d3f20bb0aef", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 20, "instruction": "Go to the area by the intersection.", "destination": "the area by the intersection", "start_xy": [490, 680], "ang_err_namer_deg": 6.042684773581211, "ang_err_cycle_deg": 4.208312075759259, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "2b4615c0_seg1", "clip": "2b4615c0-069c-5382-ac86-7d3f20bb0aef", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 20, "instruction": "Go to the area by the intersection.", "destination": "the area by the intersection", "start_xy": [490, 680], "ang_err_namer_deg": 6.042684773581211, "ang_err_cycle_deg": 4.208312075759259, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "2b4615c0_seg1", "clip": "2b4615c0-069c-5382-ac86-7d3f20bb0aef", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2b49c9e4-cfb5-56ef-9149-f2771a57b5d1.json b/labels/outdoor/2b/2b49c9e4-cfb5-56ef-9149-f2771a57b5d1.json
index cb535cebdb646a2e3a1dd6bb4a48284537537b96..52ffc35c87afd721a894800d6210c8e4e86b3554 100644
--- a/labels/outdoor/2b/2b49c9e4-cfb5-56ef-9149-f2771a57b5d1.json
+++ b/labels/outdoor/2b/2b49c9e4-cfb5-56ef-9149-f2771a57b5d1.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the green guardrail by the road.", "destination": "the green guardrail", "start_xy": [709, 724], "ang_err_namer_deg": 3.772711585297423, "ang_err_cycle_deg": 3.1568858824137673, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2b49c9e4_seg0", "clip": "2b49c9e4-cfb5-56ef-9149-f2771a57b5d1", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the parked black car.", "destination": "parked black car", "start_xy": [541, 639], "ang_err_namer_deg": 1.3945069152816243, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2b49c9e4_seg1", "clip": "2b49c9e4-cfb5-56ef-9149-f2771a57b5d1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the green guardrail by the road.", "destination": "the green guardrail", "start_xy": [709, 724], "ang_err_namer_deg": 3.772711585297423, "ang_err_cycle_deg": 3.1568858824137673, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2b49c9e4_seg0", "clip": "2b49c9e4-cfb5-56ef-9149-f2771a57b5d1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2b796289-f7cb-56fb-b120-3fe4fe409fee.json b/labels/outdoor/2b/2b796289-f7cb-56fb-b120-3fe4fe409fee.json
index 9baad0c7702bfb3b809ced71a7782dca527aa0fe..f21a3738e503692609df31b16936c77e19feb7a0 100644
--- a/labels/outdoor/2b/2b796289-f7cb-56fb-b120-3fe4fe409fee.json
+++ b/labels/outdoor/2b/2b796289-f7cb-56fb-b120-3fe4fe409fee.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area of the road where it begins to ascend towards the mountains.", "destination": "the area of the road where it begins to ascend towards the mountains", "start_xy": [483, 743], "ang_err_namer_deg": 5.488144972909649, "ang_err_cycle_deg": 5.096947553430817, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "2b796289_seg0", "clip": "2b796289-f7cb-56fb-b120-3fe4fe409fee", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the mountain road.", "destination": "the mountain road", "start_xy": [673, 556], "ang_err_namer_deg": 2.137376394319934, "ang_err_cycle_deg": 13.248249958269698, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "2b796289_seg1", "clip": "2b796289-f7cb-56fb-b120-3fe4fe409fee", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [639, 571], "ang_err_namer_deg": 1.6379042352140276, "ang_err_cycle_deg": 1.6379042352140276, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "2b796289_seg2", "clip": "2b796289-f7cb-56fb-b120-3fe4fe409fee", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [639, 571], "ang_err_namer_deg": 1.6379042352140276, "ang_err_cycle_deg": 1.6379042352140276, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "2b796289_seg2", "clip": "2b796289-f7cb-56fb-b120-3fe4fe409fee", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2b/2bbbd724-d22f-5a81-b50a-e599832423c5.json b/labels/outdoor/2b/2bbbd724-d22f-5a81-b50a-e599832423c5.json
index c4e2d92ebea21483215f3a9398875a2367f3ea0c..87e27d08dd3264af3e2a290791bca711557f6356 100644
--- a/labels/outdoor/2b/2bbbd724-d22f-5a81-b50a-e599832423c5.json
+++ b/labels/outdoor/2b/2bbbd724-d22f-5a81-b50a-e599832423c5.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 45, "instruction": "Go to the area where the path curves.", "destination": "the area where the path curves", "start_xy": [412, 796], "ang_err_namer_deg": 2.3410099780012597, "ang_err_cycle_deg": 0.5291427465133509, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "2bbbd724_seg0", "clip": "2bbbd724-d22f-5a81-b50a-e599832423c5", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the area by the large tree on the left.", "destination": "the area by the large tree on the left", "start_xy": [291, 508], "ang_err_namer_deg": 8.982570151491421, "ang_err_cycle_deg": 8.341673362959524, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "2bbbd724_seg1", "clip": "2bbbd724-d22f-5a81-b50a-e599832423c5", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the area with the trees along the road.", "destination": "the area with the trees along the road", "start_xy": [500, 700], "ang_err_namer_deg": 2.2624075550856015, "ang_err_cycle_deg": 1.3937443331579178, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "2bbbd724_seg2", "clip": "2bbbd724-d22f-5a81-b50a-e599832423c5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 26, "t_end": 45, "instruction": "Go to the area where the path curves.", "destination": "the area where the path curves", "start_xy": [412, 796], "ang_err_namer_deg": 2.3410099780012597, "ang_err_cycle_deg": 0.5291427465133509, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "2bbbd724_seg0", "clip": "2bbbd724-d22f-5a81-b50a-e599832423c5", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the area by the large tree on the left.", "destination": "the area by the large tree on the left", "start_xy": [291, 508], "ang_err_namer_deg": 8.982570151491421, "ang_err_cycle_deg": 8.341673362959524, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "2bbbd724_seg1", "clip": "2bbbd724-d22f-5a81-b50a-e599832423c5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2c/2cce699b-922c-5b80-8e44-f301c1311106.json b/labels/outdoor/2c/2cce699b-922c-5b80-8e44-f301c1311106.json
index 7bc0508ec914335e29a4017497001ca24b0e0c28..13feb06226abd5a0d2da32009983d6779f4d8579 100644
--- a/labels/outdoor/2c/2cce699b-922c-5b80-8e44-f301c1311106.json
+++ b/labels/outdoor/2c/2cce699b-922c-5b80-8e44-f301c1311106.json
@@ -1 +1 @@
-[{"t0": 48, "t_end": 86, "instruction": "Go to the stone building by the mountain road.", "destination": "the stone building", "start_xy": [599, 484], "ang_err_namer_deg": 10.725724822202682, "ang_err_cycle_deg": 10.944295075102538, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "2cce699b_seg0", "clip": "2cce699b-922c-5b80-8e44-f301c1311106", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 24, "instruction": "Go to the stone building with the open carport.", "destination": "the stone building with the open carport", "start_xy": [582, 505], "ang_err_namer_deg": 10.485706694082843, "ang_err_cycle_deg": 8.039640726936145, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "2cce699b_seg1", "clip": "2cce699b-922c-5b80-8e44-f301c1311106", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 24, "instruction": "Go to the stone building with the open carport.", "destination": "the stone building with the open carport", "start_xy": [582, 505], "ang_err_namer_deg": 10.485706694082843, "ang_err_cycle_deg": 8.039640726936145, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "2cce699b_seg1", "clip": "2cce699b-922c-5b80-8e44-f301c1311106", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2c/2ccee59a-840c-5e5c-be96-51e65a40ec8e.json b/labels/outdoor/2c/2ccee59a-840c-5e5c-be96-51e65a40ec8e.json
index e814e889dd27b7ae825dd55005f95b00d5c3c11c..e0771c6059ea72fece1b6b05f38ef61c72c24108 100644
--- a/labels/outdoor/2c/2ccee59a-840c-5e5c-be96-51e65a40ec8e.json
+++ b/labels/outdoor/2c/2ccee59a-840c-5e5c-be96-51e65a40ec8e.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the signal post.", "destination": "the signal post", "start_xy": [535, 445], "ang_err_namer_deg": 1.7457562670627158, "ang_err_cycle_deg": 2.0894377009437344, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2ccee59a_seg0", "clip": "2ccee59a-840c-5e5c-be96-51e65a40ec8e", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the yellow track sign.", "destination": "the yellow track sign", "start_xy": [575, 464], "ang_err_namer_deg": 11.046318209107264, "ang_err_cycle_deg": 11.182862200006701, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "2ccee59a_seg1", "clip": "2ccee59a-840c-5e5c-be96-51e65a40ec8e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the signal post.", "destination": "the signal post", "start_xy": [535, 445], "ang_err_namer_deg": 1.7457562670627158, "ang_err_cycle_deg": 2.0894377009437344, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2ccee59a_seg0", "clip": "2ccee59a-840c-5e5c-be96-51e65a40ec8e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2c/2ceba2a9-c9b5-5517-abe7-156e06b54f1b.json b/labels/outdoor/2c/2ceba2a9-c9b5-5517-abe7-156e06b54f1b.json
index d561a35f1fb70aab59c6de3e3d6d36846932679f..debcf0ef56988d81cf24da3148c6e663d20e8d65 100644
--- a/labels/outdoor/2c/2ceba2a9-c9b5-5517-abe7-156e06b54f1b.json
+++ b/labels/outdoor/2c/2ceba2a9-c9b5-5517-abe7-156e06b54f1b.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the bend in the river.", "destination": "the bend in the river", "start_xy": [420, 480], "ang_err_namer_deg": 0.6219088287549638, "ang_err_cycle_deg": 0.6219088287549638, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "2ceba2a9_seg0", "clip": "2ceba2a9-c9b5-5517-abe7-156e06b54f1b", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the yellow and black signal post.", "destination": "the yellow and black signal post", "start_xy": [517, 485], "ang_err_namer_deg": 7.019586490678121, "ang_err_cycle_deg": 6.900374572118116, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "2ceba2a9_seg1", "clip": "2ceba2a9-c9b5-5517-abe7-156e06b54f1b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the end of the railway tracks.", "destination": "the end of the railway tracks", "start_xy": [489, 551], "ang_err_namer_deg": 0.7898819234301115, "ang_err_cycle_deg": 1.02843810604004, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "2ceba2a9_seg2", "clip": "2ceba2a9-c9b5-5517-abe7-156e06b54f1b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the yellow and black signal post.", "destination": "the yellow and black signal post", "start_xy": [517, 485], "ang_err_namer_deg": 7.019586490678121, "ang_err_cycle_deg": 6.900374572118116, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "2ceba2a9_seg1", "clip": "2ceba2a9-c9b5-5517-abe7-156e06b54f1b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2c/2cf57207-4b5e-59a6-991e-e1cfee829a08.json b/labels/outdoor/2c/2cf57207-4b5e-59a6-991e-e1cfee829a08.json
index b2178f2dcf9e3efb21e21b80e65ffb90c26c2dfd..80c9a50d24662cb49cf4bf62d044413af2a9c932 100644
--- a/labels/outdoor/2c/2cf57207-4b5e-59a6-991e-e1cfee829a08.json
+++ b/labels/outdoor/2c/2cf57207-4b5e-59a6-991e-e1cfee829a08.json
@@ -1 +1 @@
-[{"t0": 64, "t_end": 74, "instruction": "Go to the car parked on the side of the road.", "destination": "car parked on the side of the road", "start_xy": [247, 593], "ang_err_namer_deg": 6.783540963891433, "ang_err_cycle_deg": 7.111567127122586, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "2cf57207_seg0", "clip": "2cf57207-4b5e-59a6-991e-e1cfee829a08", "source": "spatialvid_v3"}, {"t0": 42, "t_end": 52, "instruction": "Go to the end of the road near the concrete barrier.", "destination": "the end of the road near the concrete barrier", "start_xy": [450, 700], "ang_err_namer_deg": 11.173983500371943, "ang_err_cycle_deg": 5.597505035727256, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "2cf57207_seg1", "clip": "2cf57207-4b5e-59a6-991e-e1cfee829a08", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 40, "instruction": "Go to the convex mirror by the side of the road.", "destination": "convex mirror", "start_xy": [218, 542], "ang_err_namer_deg": 7.558143008726293, "ang_err_cycle_deg": 7.558143008726293, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "2cf57207_seg2", "clip": "2cf57207-4b5e-59a6-991e-e1cfee829a08", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the end of the road near the mountains.", "destination": "the end of the road near the mountains", "start_xy": [427, 512], "ang_err_namer_deg": 8.81602673693474, "ang_err_cycle_deg": 12.451958715992882, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "2cf57207_seg3", "clip": "2cf57207-4b5e-59a6-991e-e1cfee829a08", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 19, "t_end": 40, "instruction": "Go to the convex mirror by the side of the road.", "destination": "convex mirror", "start_xy": [218, 542], "ang_err_namer_deg": 7.558143008726293, "ang_err_cycle_deg": 7.558143008726293, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "2cf57207_seg2", "clip": "2cf57207-4b5e-59a6-991e-e1cfee829a08", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2d/2d11ea90-59dd-5b8e-8c14-f4bd789ff301.json b/labels/outdoor/2d/2d11ea90-59dd-5b8e-8c14-f4bd789ff301.json
index cb3220be7c7555f28a8752e45afd9d9dbd18d0c9..b92d3a9db2a6aca40cf2c1c250629ef9d16eb6dc 100644
--- a/labels/outdoor/2d/2d11ea90-59dd-5b8e-8c14-f4bd789ff301.json
+++ b/labels/outdoor/2d/2d11ea90-59dd-5b8e-8c14-f4bd789ff301.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the road mirror.", "destination": "the road mirror", "start_xy": [673, 653], "ang_err_namer_deg": 2.210115083630269, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2d11ea90_seg0", "clip": "2d11ea90-59dd-5b8e-8c14-f4bd789ff301", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 35, "instruction": "Go to the area of the road where the yellow line ends.", "destination": "the area of the road where the yellow line ends", "start_xy": [427, 795], "ang_err_namer_deg": 1.0252927608400615, "ang_err_cycle_deg": 1.0252927608400615, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2d11ea90_seg1", "clip": "2d11ea90-59dd-5b8e-8c14-f4bd789ff301", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 35, "instruction": "Go to the area of the road where the yellow line ends.", "destination": "the area of the road where the yellow line ends", "start_xy": [427, 795], "ang_err_namer_deg": 1.0252927608400615, "ang_err_cycle_deg": 1.0252927608400615, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "2d11ea90_seg1", "clip": "2d11ea90-59dd-5b8e-8c14-f4bd789ff301", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2e/2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c.json b/labels/outdoor/2e/2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c.json
index ca106b67c1aaa8898a2e4722e90028127ea13de9..873d0700dd9399dea39c742bf7404cb186410799 100644
--- a/labels/outdoor/2e/2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c.json
+++ b/labels/outdoor/2e/2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the car on the side of the road.", "destination": "the car on the side of the road", "start_xy": [673, 686], "ang_err_namer_deg": 5.931922676416413, "ang_err_cycle_deg": 5.7176559506748985, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2e3e96d3_seg0", "clip": "2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the two prominent trees along the roadside.", "destination": "the two prominent trees along the roadside", "start_xy": [286, 332], "ang_err_namer_deg": 3.5311108642118096, "ang_err_cycle_deg": 1.4945686893206325, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2e3e96d3_seg1", "clip": "2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the large rock formation on the left side of the road.", "destination": "the large rock formation on the left side of the road", "start_xy": [303, 662], "ang_err_namer_deg": 8.45052428654689, "ang_err_cycle_deg": 6.678470165913013, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "2e3e96d3_seg2", "clip": "2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the car on the side of the road.", "destination": "the car on the side of the road", "start_xy": [673, 686], "ang_err_namer_deg": 5.931922676416413, "ang_err_cycle_deg": 5.7176559506748985, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2e3e96d3_seg0", "clip": "2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the two prominent trees along the roadside.", "destination": "the two prominent trees along the roadside", "start_xy": [286, 332], "ang_err_namer_deg": 3.5311108642118096, "ang_err_cycle_deg": 1.4945686893206325, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2e3e96d3_seg1", "clip": "2e3e96d3-1e26-52cb-a6d9-4d3cd73de56c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2e/2e56812f-46b2-5052-b1b0-d8f65c813b0d.json b/labels/outdoor/2e/2e56812f-46b2-5052-b1b0-d8f65c813b0d.json
index 018f9df2748e6abb98f30058348dd98ab17ad95f..5b7e6192265edcf4cf3e791860af266db68ea6f9 100644
--- a/labels/outdoor/2e/2e56812f-46b2-5052-b1b0-d8f65c813b0d.json
+++ b/labels/outdoor/2e/2e56812f-46b2-5052-b1b0-d8f65c813b0d.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the post on the right side of the road.", "destination": "post", "start_xy": [757, 755], "ang_err_namer_deg": 9.282263530927018, "ang_err_cycle_deg": 9.807642996626745, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2e56812f_seg0", "clip": "2e56812f-46b2-5052-b1b0-d8f65c813b0d", "source": "spatialvid_v3"}, {"t0": 21, "t_end": 44, "instruction": "Go to the large boulder on the right side of the road.", "destination": "the large boulder on the right side of the road", "start_xy": [454, 512], "ang_err_namer_deg": 10.344865295439085, "ang_err_cycle_deg": 2.8456046832507935, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "2e56812f_seg1", "clip": "2e56812f-46b2-5052-b1b0-d8f65c813b0d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the post on the right side of the road.", "destination": "post", "start_xy": [757, 755], "ang_err_namer_deg": 9.282263530927018, "ang_err_cycle_deg": 9.807642996626745, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2e56812f_seg0", "clip": "2e56812f-46b2-5052-b1b0-d8f65c813b0d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2e/2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993.json b/labels/outdoor/2e/2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993.json
index ff67fdfbf348a212178797b148a1ed889916765e..8d369b8aa2ae75b6e69be0ba303de83aa54879b7 100644
--- a/labels/outdoor/2e/2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993.json
+++ b/labels/outdoor/2e/2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993.json
@@ -1 +1 @@
-[{"t0": 24, "t_end": 59, "instruction": "Go to the area of the road where it curves near the trees.", "destination": "the curve in the road", "start_xy": [483, 744], "ang_err_namer_deg": 10.792286818547005, "ang_err_cycle_deg": 3.471098328583599, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "2e8fb2a9_seg0", "clip": "2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 22, "instruction": "Go to the area of the mountain road where the curve begins.", "destination": "the curve in the mountain road", "start_xy": [371, 661], "ang_err_namer_deg": 8.240663532434874, "ang_err_cycle_deg": 9.290857636802825, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2e8fb2a9_seg1", "clip": "2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 22, "instruction": "Go to the area of the mountain road where the curve begins.", "destination": "the curve in the mountain road", "start_xy": [371, 661], "ang_err_namer_deg": 8.240663532434874, "ang_err_cycle_deg": 9.290857636802825, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2e8fb2a9_seg1", "clip": "2e8fb2a9-f3cd-5fa1-bd11-01dff80c0993", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2e/2eec2da4-3ac3-5d9c-9876-2848f45b4198.json b/labels/outdoor/2e/2eec2da4-3ac3-5d9c-9876-2848f45b4198.json
index f1d257fc26a27f25076ba1376ceb429689df78e5..a05025cd7a87faf5e42665c19e8b69d335bbdbf2 100644
--- a/labels/outdoor/2e/2eec2da4-3ac3-5d9c-9876-2848f45b4198.json
+++ b/labels/outdoor/2e/2eec2da4-3ac3-5d9c-9876-2848f45b4198.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [677, 622], "ang_err_namer_deg": 8.891899560065864, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "2eec2da4_seg0", "clip": "2eec2da4-3ac3-5d9c-9876-2848f45b4198", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the brown snow-covered retaining wall on the right side of the tracks.", "destination": "the brown snow-covered retaining wall", "start_xy": [586, 535], "ang_err_namer_deg": 11.700857518740774, "ang_err_cycle_deg": 4.157862931108411, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2eec2da4_seg1", "clip": "2eec2da4-3ac3-5d9c-9876-2848f45b4198", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the overhead railway catenary pole.", "destination": "overhead railway catenary pole", "start_xy": [489, 512], "ang_err_namer_deg": 2.3762569446347026, "ang_err_cycle_deg": 3.05989009382547, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "2eec2da4_seg2", "clip": "2eec2da4-3ac3-5d9c-9876-2848f45b4198", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the brown snow-covered retaining wall on the right side of the tracks.", "destination": "the brown snow-covered retaining wall", "start_xy": [586, 535], "ang_err_namer_deg": 11.700857518740774, "ang_err_cycle_deg": 4.157862931108411, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "2eec2da4_seg1", "clip": "2eec2da4-3ac3-5d9c-9876-2848f45b4198", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the overhead railway catenary pole.", "destination": "overhead railway catenary pole", "start_xy": [489, 512], "ang_err_namer_deg": 2.3762569446347026, "ang_err_cycle_deg": 3.05989009382547, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "2eec2da4_seg2", "clip": "2eec2da4-3ac3-5d9c-9876-2848f45b4198", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2f/2f0abb7c-9824-5c08-a70d-d1c524603985.json b/labels/outdoor/2f/2f0abb7c-9824-5c08-a70d-d1c524603985.json
index fa72f0059f0d0c3d6a446ecd307e2ca4a4c7c25b..d3d166fb82a10dbd2ead13e07ea303bc8ff0db5c 100644
--- a/labels/outdoor/2f/2f0abb7c-9824-5c08-a70d-d1c524603985.json
+++ b/labels/outdoor/2f/2f0abb7c-9824-5c08-a70d-d1c524603985.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 69, "instruction": "Go to the area by the cluster of trees along the snowy roadside.", "destination": "the area by the cluster of trees along the snowy roadside", "start_xy": [450, 600], "ang_err_namer_deg": 7.205379938054682, "ang_err_cycle_deg": 15.783029513493359, "confidence": "B", "arrival_ok": false, "duration_s": 3.4864951215425117, "tier": "M", "id": "2f0abb7c_seg0", "clip": "2f0abb7c-9824-5c08-a70d-d1c524603985", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 38, "instruction": "Go to the red-and-white pole on the right side of the road.", "destination": "the red-and-white pole", "start_xy": [460, 612], "ang_err_namer_deg": 11.497198218388016, "ang_err_cycle_deg": 11.497198218388016, "confidence": "A", "arrival_ok": true, "duration_s": 6.422491013367784, "tier": "L", "id": "2f0abb7c_seg1", "clip": "2f0abb7c-9824-5c08-a70d-d1c524603985", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 38, "instruction": "Go to the red-and-white pole on the right side of the road.", "destination": "the red-and-white pole", "start_xy": [460, 612], "ang_err_namer_deg": 11.497198218388016, "ang_err_cycle_deg": 11.497198218388016, "confidence": "A", "arrival_ok": true, "duration_s": 6.422491013367784, "tier": "L", "id": "2f0abb7c_seg1", "clip": "2f0abb7c-9824-5c08-a70d-d1c524603985", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/2f/2f9498d2-e231-5754-a14e-bdf967e36e42.json b/labels/outdoor/2f/2f9498d2-e231-5754-a14e-bdf967e36e42.json
index 724f156ad6fe348a806a92eab5d09d5b3a492f95..fb1cc0af9d1f6088974589f00c8b10f2b7227d09 100644
--- a/labels/outdoor/2f/2f9498d2-e231-5754-a14e-bdf967e36e42.json
+++ b/labels/outdoor/2f/2f9498d2-e231-5754-a14e-bdf967e36e42.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the speed limit sign.", "destination": "the speed limit sign", "start_xy": [737, 597], "ang_err_namer_deg": 10.22480856678954, "ang_err_cycle_deg": 10.29347103800994, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "2f9498d2_seg0", "clip": "2f9498d2-e231-5754-a14e-bdf967e36e42", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the road sign on the left.", "destination": "the road sign on the left", "start_xy": [484, 662], "ang_err_namer_deg": 12.643719075519394, "ang_err_cycle_deg": 10.533803366219813, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2f9498d2_seg1", "clip": "2f9498d2-e231-5754-a14e-bdf967e36e42", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the roadside marker.", "destination": "the roadside marker", "start_xy": [526, 650], "ang_err_namer_deg": 6.87371379223787, "ang_err_cycle_deg": 6.798442085238293, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "2f9498d2_seg2", "clip": "2f9498d2-e231-5754-a14e-bdf967e36e42", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 28, "t_end": 45, "instruction": "Go to the road sign on the left.", "destination": "the road sign on the left", "start_xy": [484, 662], "ang_err_namer_deg": 12.643719075519394, "ang_err_cycle_deg": 10.533803366219813, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "2f9498d2_seg1", "clip": "2f9498d2-e231-5754-a14e-bdf967e36e42", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the roadside marker.", "destination": "the roadside marker", "start_xy": [526, 650], "ang_err_namer_deg": 6.87371379223787, "ang_err_cycle_deg": 6.798442085238293, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "2f9498d2_seg2", "clip": "2f9498d2-e231-5754-a14e-bdf967e36e42", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/30/30b7bf3b-b203-578a-8a2a-33b0cdd70ae8.json b/labels/outdoor/30/30b7bf3b-b203-578a-8a2a-33b0cdd70ae8.json
index c742f0de5bb47eb4d0446dbbab370155dd4e8312..8ce845d44055c6faab44121bd893958b6d73b762 100644
--- a/labels/outdoor/30/30b7bf3b-b203-578a-8a2a-33b0cdd70ae8.json
+++ b/labels/outdoor/30/30b7bf3b-b203-578a-8a2a-33b0cdd70ae8.json
@@ -1 +1 @@
-[{"t0": 44, "t_end": 79, "instruction": "Go to the area with the trees and the metal guardrail on the right side of the road.", "destination": "the area with the trees and the metal guardrail", "start_xy": [800, 700], "ang_err_namer_deg": 6.716548612508881, "ang_err_cycle_deg": 9.692255562488796, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "30b7bf3b_seg0", "clip": "30b7bf3b-b203-578a-8a2a-33b0cdd70ae8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 42, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [551, 660], "ang_err_namer_deg": 5.781125156028393, "ang_err_cycle_deg": 5.832438518466432, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "30b7bf3b_seg1", "clip": "30b7bf3b-b203-578a-8a2a-33b0cdd70ae8", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area by the utility pole on the right side of the road.", "destination": "the utility pole on the right side of the road", "start_xy": [605, 427], "ang_err_namer_deg": 12.774267355952812, "ang_err_cycle_deg": 12.621318235548543, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "30b7bf3b_seg2", "clip": "30b7bf3b-b203-578a-8a2a-33b0cdd70ae8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 44, "t_end": 79, "instruction": "Go to the area with the trees and the metal guardrail on the right side of the road.", "destination": "the area with the trees and the metal guardrail", "start_xy": [800, 700], "ang_err_namer_deg": 6.716548612508881, "ang_err_cycle_deg": 9.692255562488796, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "30b7bf3b_seg0", "clip": "30b7bf3b-b203-578a-8a2a-33b0cdd70ae8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 42, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [551, 660], "ang_err_namer_deg": 5.781125156028393, "ang_err_cycle_deg": 5.832438518466432, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "30b7bf3b_seg1", "clip": "30b7bf3b-b203-578a-8a2a-33b0cdd70ae8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/30/30ecf0ba-d552-5088-ba9d-4221590ad20f.json b/labels/outdoor/30/30ecf0ba-d552-5088-ba9d-4221590ad20f.json
index a516d3fc3cfafb996fa6c16635d851809311a795..fcc641518689438d3a7afe58a23b134ed62647f9 100644
--- a/labels/outdoor/30/30ecf0ba-d552-5088-ba9d-4221590ad20f.json
+++ b/labels/outdoor/30/30ecf0ba-d552-5088-ba9d-4221590ad20f.json
@@ -1 +1 @@
-[{"t0": 43, "t_end": 60, "instruction": "Go to the intersection by the yellow house.", "destination": "the intersection by the yellow house", "start_xy": [484, 534], "ang_err_namer_deg": 11.007613927101929, "ang_err_cycle_deg": 4.897248853427302, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "30ecf0ba_seg0", "clip": "30ecf0ba-d552-5088-ba9d-4221590ad20f", "source": "spatialvid_v3"}, {"t0": 24, "t_end": 41, "instruction": "Go to the bus stop.", "destination": "the bus stop", "start_xy": [395, 663], "ang_err_namer_deg": 8.166051411168805, "ang_err_cycle_deg": 8.374685385989306, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "30ecf0ba_seg1", "clip": "30ecf0ba-d552-5088-ba9d-4221590ad20f", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 22, "instruction": "Go to the large white building on the corner.", "destination": "the large white building on the corner", "start_xy": [420, 512], "ang_err_namer_deg": 1.0585731038643122, "ang_err_cycle_deg": 0.7088049060695748, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "30ecf0ba_seg2", "clip": "30ecf0ba-d552-5088-ba9d-4221590ad20f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 43, "t_end": 60, "instruction": "Go to the intersection by the yellow house.", "destination": "the intersection by the yellow house", "start_xy": [484, 534], "ang_err_namer_deg": 11.007613927101929, "ang_err_cycle_deg": 4.897248853427302, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "30ecf0ba_seg0", "clip": "30ecf0ba-d552-5088-ba9d-4221590ad20f", "source": "spatialvid_v3"}, {"t0": 24, "t_end": 41, "instruction": "Go to the bus stop.", "destination": "the bus stop", "start_xy": [395, 663], "ang_err_namer_deg": 8.166051411168805, "ang_err_cycle_deg": 8.374685385989306, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "30ecf0ba_seg1", "clip": "30ecf0ba-d552-5088-ba9d-4221590ad20f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/32/3219e3e3-58da-5a78-98fb-d022a1677981.json b/labels/outdoor/32/3219e3e3-58da-5a78-98fb-d022a1677981.json
index d32ba66cf53f59800069057c9a41235ecb54344b..0ddb502308a0f18bb0ee4c3bcc35fe743848e1e8 100644
--- a/labels/outdoor/32/3219e3e3-58da-5a78-98fb-d022a1677981.json
+++ b/labels/outdoor/32/3219e3e3-58da-5a78-98fb-d022a1677981.json
@@ -1 +1 @@
-[{"t0": 27, "t_end": 59, "instruction": "Go to the corner of the house with the tall hedge.", "destination": "the corner of the house with the tall hedge", "start_xy": [490, 480], "ang_err_namer_deg": 10.962545106968564, "ang_err_cycle_deg": 11.838619975649243, "confidence": "A", "arrival_ok": true, "duration_s": 6.3996, "tier": "L", "id": "3219e3e3_seg0", "clip": "3219e3e3-58da-5a78-98fb-d022a1677981", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 25, "instruction": "Go to the area by the orange sign near the trees.", "destination": "the orange sign", "start_xy": [718, 526], "ang_err_namer_deg": 4.992622246275448, "ang_err_cycle_deg": 17.532461468251316, "confidence": "B", "arrival_ok": true, "duration_s": 4.9996875, "tier": "M", "id": "3219e3e3_seg1", "clip": "3219e3e3-58da-5a78-98fb-d022a1677981", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 27, "t_end": 59, "instruction": "Go to the corner of the house with the tall hedge.", "destination": "the corner of the house with the tall hedge", "start_xy": [490, 480], "ang_err_namer_deg": 10.962545106968564, "ang_err_cycle_deg": 11.838619975649243, "confidence": "A", "arrival_ok": true, "duration_s": 6.3996, "tier": "L", "id": "3219e3e3_seg0", "clip": "3219e3e3-58da-5a78-98fb-d022a1677981", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/33/33229dda-07c5-579a-945b-88bb3fa5b826.json b/labels/outdoor/33/33229dda-07c5-579a-945b-88bb3fa5b826.json
index 993cb8fda2c04894bf0990d7f0cb50382b4df0e1..81446bf5b8ab694464daaa1fed3912bf99c52d55 100644
--- a/labels/outdoor/33/33229dda-07c5-579a-945b-88bb3fa5b826.json
+++ b/labels/outdoor/33/33229dda-07c5-579a-945b-88bb3fa5b826.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 68, "instruction": "Go to the silver car driving ahead on the road.", "destination": "the silver car", "start_xy": [482, 680], "ang_err_namer_deg": 1.2318903012652864, "ang_err_cycle_deg": 1.0602235927372001, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "33229dda_seg0", "clip": "33229dda-07c5-579a-945b-88bb3fa5b826", "source": "spatialvid_v3"}, {"t0": 12, "t_end": 47, "instruction": "Go to the area with the yellow road sign.", "destination": "the area with the yellow road sign", "start_xy": [570, 605], "ang_err_namer_deg": 1.8631943564063387, "ang_err_cycle_deg": 1.9201496682106154, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "33229dda_seg1", "clip": "33229dda-07c5-579a-945b-88bb3fa5b826", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 12, "t_end": 47, "instruction": "Go to the area with the yellow road sign.", "destination": "the area with the yellow road sign", "start_xy": [570, 605], "ang_err_namer_deg": 1.8631943564063387, "ang_err_cycle_deg": 1.9201496682106154, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "33229dda_seg1", "clip": "33229dda-07c5-579a-945b-88bb3fa5b826", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/33/333700fe-f2c4-5121-bf25-afe8a7202d68.json b/labels/outdoor/33/333700fe-f2c4-5121-bf25-afe8a7202d68.json
index 0ba556a35ca11cce0e30b32b518753e4c91b2079..487eef02eb20b9a6483f947a66254e8b33a835d7 100644
--- a/labels/outdoor/33/333700fe-f2c4-5121-bf25-afe8a7202d68.json
+++ b/labels/outdoor/33/333700fe-f2c4-5121-bf25-afe8a7202d68.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the wooden bridge near the small church.", "destination": "the wooden bridge near the small church", "start_xy": [484, 643], "ang_err_namer_deg": 5.7077869161355546, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "333700fe_seg0", "clip": "333700fe-f2c4-5121-bf25-afe8a7202d68", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the rustic wooden barn.", "destination": "the rustic wooden barn", "start_xy": [384, 591], "ang_err_namer_deg": 5.454667485458618, "ang_err_cycle_deg": 5.001356708885931, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "333700fe_seg1", "clip": "333700fe-f2c4-5121-bf25-afe8a7202d68", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the rustic wooden barn.", "destination": "the rustic wooden barn", "start_xy": [384, 591], "ang_err_namer_deg": 5.454667485458618, "ang_err_cycle_deg": 5.001356708885931, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "333700fe_seg1", "clip": "333700fe-f2c4-5121-bf25-afe8a7202d68", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/33/334c3068-5c73-5632-89c6-c1352d4232dc.json b/labels/outdoor/33/334c3068-5c73-5632-89c6-c1352d4232dc.json
index fb5a58ba577d7b5973a174c97de3ba2a3cea9b64..c5791bd479774c064a62812bebecdcc0c1cb642a 100644
--- a/labels/outdoor/33/334c3068-5c73-5632-89c6-c1352d4232dc.json
+++ b/labels/outdoor/33/334c3068-5c73-5632-89c6-c1352d4232dc.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the turnout by the lake.", "destination": "the turnout by the lake", "start_xy": [750, 750], "ang_err_namer_deg": 4.530632148394622, "ang_err_cycle_deg": 3.4807112887310936, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "334c3068_seg0", "clip": "334c3068-5c73-5632-89c6-c1352d4232dc", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [546, 662], "ang_err_namer_deg": 1.885022184652323, "ang_err_cycle_deg": 1.885022184652323, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "334c3068_seg1", "clip": "334c3068-5c73-5632-89c6-c1352d4232dc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the turnout by the lake.", "destination": "the turnout by the lake", "start_xy": [750, 750], "ang_err_namer_deg": 4.530632148394622, "ang_err_cycle_deg": 3.4807112887310936, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "334c3068_seg0", "clip": "334c3068-5c73-5632-89c6-c1352d4232dc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/33/33938eff-2871-5331-b40d-11f40382d8aa.json b/labels/outdoor/33/33938eff-2871-5331-b40d-11f40382d8aa.json
index 244a998c956826f160e3cc62d48de0305f66a1ae..7752d15506a7abbb8e2500840d7fd88e83578438 100644
--- a/labels/outdoor/33/33938eff-2871-5331-b40d-11f40382d8aa.json
+++ b/labels/outdoor/33/33938eff-2871-5331-b40d-11f40382d8aa.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area with red markings on the road.", "destination": "the area with red markings on the road", "start_xy": [487, 574], "ang_err_namer_deg": 1.6709295838645986, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "33938eff_seg0", "clip": "33938eff-2871-5331-b40d-11f40382d8aa", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [420, 510], "ang_err_namer_deg": 1.534015396697238, "ang_err_cycle_deg": 1.500685106025378, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "33938eff_seg1", "clip": "33938eff-2871-5331-b40d-11f40382d8aa", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [427, 372], "ang_err_namer_deg": 6.409231406324563, "ang_err_cycle_deg": 14.623095833194878, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "33938eff_seg2", "clip": "33938eff-2871-5331-b40d-11f40382d8aa", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 49, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [420, 510], "ang_err_namer_deg": 1.534015396697238, "ang_err_cycle_deg": 1.500685106025378, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "33938eff_seg1", "clip": "33938eff-2871-5331-b40d-11f40382d8aa", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/34/34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4.json b/labels/outdoor/34/34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4.json
index 9d16121f6765c57c91226fc51aaa2a1d9234fb25..a9d1f4a1a0248136e06fe2bb63274e6c8b797354 100644
--- a/labels/outdoor/34/34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4.json
+++ b/labels/outdoor/34/34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4.json
@@ -1 +1 @@
-[{"t0": 13, "t_end": 24, "instruction": "Go to the area where the guardrail ends.", "destination": "the area where the guardrail ends", "start_xy": [483, 718], "ang_err_namer_deg": 0.2835466801567612, "ang_err_cycle_deg": 0.40330771625623346, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "34ce45f9_seg0", "clip": "34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 11, "instruction": "Go to the metal guardrail along the road.", "destination": "metal guardrail", "start_xy": [372, 559], "ang_err_namer_deg": 13.273263272000069, "ang_err_cycle_deg": 13.38509545635135, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "34ce45f9_seg1", "clip": "34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 11, "instruction": "Go to the metal guardrail along the road.", "destination": "metal guardrail", "start_xy": [372, 559], "ang_err_namer_deg": 13.273263272000069, "ang_err_cycle_deg": 13.38509545635135, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "34ce45f9_seg1", "clip": "34ce45f9-35d2-5ce7-b7f2-e3a1d00e4bb4", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/34/34d314a1-d0db-5f6c-b02d-0137f446d326.json b/labels/outdoor/34/34d314a1-d0db-5f6c-b02d-0137f446d326.json
index 7e85125c0d1f7bd2f09c26f0df9b3a1561a62c2a..f22b443422464b0c37a6e5d4e3999e762917c2be 100644
--- a/labels/outdoor/34/34d314a1-d0db-5f6c-b02d-0137f446d326.json
+++ b/labels/outdoor/34/34d314a1-d0db-5f6c-b02d-0137f446d326.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the end of the railway line.", "destination": "the end of the railway line", "start_xy": [455, 505], "ang_err_namer_deg": 3.4995602288840004, "ang_err_cycle_deg": 6.513666588138318, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "34d314a1_seg0", "clip": "34d314a1-d0db-5f6c-b02d-0137f446d326", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the utility pole by the train tracks.", "destination": "the utility pole", "start_xy": [420, 450], "ang_err_namer_deg": 11.035787713628629, "ang_err_cycle_deg": 10.942953776144483, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "34d314a1_seg1", "clip": "34d314a1-d0db-5f6c-b02d-0137f446d326", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the utility pole by the train tracks.", "destination": "the utility pole", "start_xy": [420, 450], "ang_err_namer_deg": 11.035787713628629, "ang_err_cycle_deg": 10.942953776144483, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "34d314a1_seg1", "clip": "34d314a1-d0db-5f6c-b02d-0137f446d326", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/34/34e9473d-bea6-5bfa-9c03-fad1d497f011.json b/labels/outdoor/34/34e9473d-bea6-5bfa-9c03-fad1d497f011.json
index f871034ccd97308ecc41cd1cc866370bbccce2bc..3edda26fa26deb989987b6bb475f56682cac4ca0 100644
--- a/labels/outdoor/34/34e9473d-bea6-5bfa-9c03-fad1d497f011.json
+++ b/labels/outdoor/34/34e9473d-bea6-5bfa-9c03-fad1d497f011.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the parked cars.", "destination": "the area by the parked cars", "start_xy": [767, 483], "ang_err_namer_deg": 1.4950945822204307, "ang_err_cycle_deg": 7.613552099141601, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "34e9473d_seg0", "clip": "34e9473d-bea6-5bfa-9c03-fad1d497f011", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area with the white house on the corner.", "destination": "the white house on the corner", "start_xy": [750, 550], "ang_err_namer_deg": 3.918256175770779, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "34e9473d_seg1", "clip": "34e9473d-bea6-5bfa-9c03-fad1d497f011", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the parked cars.", "destination": "the area by the parked cars", "start_xy": [767, 483], "ang_err_namer_deg": 1.4950945822204307, "ang_err_cycle_deg": 7.613552099141601, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "34e9473d_seg0", "clip": "34e9473d-bea6-5bfa-9c03-fad1d497f011", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/37/37827d5b-256a-51f1-8024-06bb4e904587.json b/labels/outdoor/37/37827d5b-256a-51f1-8024-06bb4e904587.json
index 75c01dd04185d4cf4b3a93b2f86ca0ec903f546f..12926ea70cae2e36c84c3f2dcc845376c2e9dc24 100644
--- a/labels/outdoor/37/37827d5b-256a-51f1-8024-06bb4e904587.json
+++ b/labels/outdoor/37/37827d5b-256a-51f1-8024-06bb4e904587.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the light posts along the street.", "destination": "the area with the light posts", "start_xy": [598, 551], "ang_err_namer_deg": 8.518903404155987, "ang_err_cycle_deg": 10.128594232137429, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "37827d5b_seg0", "clip": "37827d5b-256a-51f1-8024-06bb4e904587", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area by the red truck.", "destination": "the area by the red truck", "start_xy": [490, 625], "ang_err_namer_deg": 0.8810610357939588, "ang_err_cycle_deg": 1.5077636726005963, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "37827d5b_seg1", "clip": "37827d5b-256a-51f1-8024-06bb4e904587", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the light posts along the street.", "destination": "the area with the light posts", "start_xy": [598, 551], "ang_err_namer_deg": 8.518903404155987, "ang_err_cycle_deg": 10.128594232137429, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "37827d5b_seg0", "clip": "37827d5b-256a-51f1-8024-06bb4e904587", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/37/379078f8-8278-50f9-bae7-dd1484b86b7c.json b/labels/outdoor/37/379078f8-8278-50f9-bae7-dd1484b86b7c.json
index 735f9f27080a65a304aa54ad3b8fbb8a091b9010..14adbb63987315b09e006e671de09d065da60132 100644
--- a/labels/outdoor/37/379078f8-8278-50f9-bae7-dd1484b86b7c.json
+++ b/labels/outdoor/37/379078f8-8278-50f9-bae7-dd1484b86b7c.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the street intersection with the white buildings and the HATO restaurant.", "destination": "the street intersection", "start_xy": [485, 558], "ang_err_namer_deg": 0.14365499475329832, "ang_err_cycle_deg": 3.9062978827808275, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "379078f8_seg0", "clip": "379078f8-8278-50f9-bae7-dd1484b86b7c", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 38, "instruction": "Go to the area by the white van parked on the left side of the street.", "destination": "the white van", "start_xy": [435, 605], "ang_err_namer_deg": 4.717043589873752, "ang_err_cycle_deg": 4.328620389385335, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "379078f8_seg1", "clip": "379078f8-8278-50f9-bae7-dd1484b86b7c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the white car parked on the side of the road.", "destination": "white car", "start_xy": [757, 645], "ang_err_namer_deg": 9.915955106152783, "ang_err_cycle_deg": 9.555582688562724, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "379078f8_seg2", "clip": "379078f8-8278-50f9-bae7-dd1484b86b7c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the street intersection with the white buildings and the HATO restaurant.", "destination": "the street intersection", "start_xy": [485, 558], "ang_err_namer_deg": 0.14365499475329832, "ang_err_cycle_deg": 3.9062978827808275, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "379078f8_seg0", "clip": "379078f8-8278-50f9-bae7-dd1484b86b7c", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 38, "instruction": "Go to the area by the white van parked on the left side of the street.", "destination": "the white van", "start_xy": [435, 605], "ang_err_namer_deg": 4.717043589873752, "ang_err_cycle_deg": 4.328620389385335, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "379078f8_seg1", "clip": "379078f8-8278-50f9-bae7-dd1484b86b7c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/37/37ac7bc0-7ed3-563f-b9c5-158dc2921098.json b/labels/outdoor/37/37ac7bc0-7ed3-563f-b9c5-158dc2921098.json
index 1bee04418edd0e9734de071f0a422d11fc8fd531..e42cdc64742fe243e04629e7421ac22cf7632a88 100644
--- a/labels/outdoor/37/37ac7bc0-7ed3-563f-b9c5-158dc2921098.json
+++ b/labels/outdoor/37/37ac7bc0-7ed3-563f-b9c5-158dc2921098.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the intersection near the white SUV.", "destination": "the intersection", "start_xy": [405, 506], "ang_err_namer_deg": 9.67236434396021, "ang_err_cycle_deg": 10.515549163733313, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "37ac7bc0_seg0", "clip": "37ac7bc0-7ed3-563f-b9c5-158dc2921098", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the intersection ahead.", "destination": "the intersection ahead", "start_xy": [483, 482], "ang_err_namer_deg": 5.9053023061502286, "ang_err_cycle_deg": 3.8355541702815072, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "37ac7bc0_seg1", "clip": "37ac7bc0-7ed3-563f-b9c5-158dc2921098", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the intersection near the white SUV.", "destination": "the intersection", "start_xy": [405, 506], "ang_err_namer_deg": 9.67236434396021, "ang_err_cycle_deg": 10.515549163733313, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "37ac7bc0_seg0", "clip": "37ac7bc0-7ed3-563f-b9c5-158dc2921098", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/37/37e717a1-0c44-5c65-a5f2-c8d9ab9afe07.json b/labels/outdoor/37/37e717a1-0c44-5c65-a5f2-c8d9ab9afe07.json
index 18905e1dc8327898057ee141068b813ae0d47070..421482b5e83824a0a05104c14f24830563a6f19d 100644
--- a/labels/outdoor/37/37e717a1-0c44-5c65-a5f2-c8d9ab9afe07.json
+++ b/labels/outdoor/37/37e717a1-0c44-5c65-a5f2-c8d9ab9afe07.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the mountain road.", "destination": "the mountain road", "start_xy": [490, 487], "ang_err_namer_deg": 1.4649069481079098, "ang_err_cycle_deg": 2.3788250413707828, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "37e717a1_seg0", "clip": "37e717a1-0c44-5c65-a5f2-c8d9ab9afe07", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [621, 571], "ang_err_namer_deg": 6.579073591200416, "ang_err_cycle_deg": 3.2967951919484646, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "37e717a1_seg1", "clip": "37e717a1-0c44-5c65-a5f2-c8d9ab9afe07", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [621, 571], "ang_err_namer_deg": 6.579073591200416, "ang_err_cycle_deg": 3.2967951919484646, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "37e717a1_seg1", "clip": "37e717a1-0c44-5c65-a5f2-c8d9ab9afe07", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/38/3802500e-3b64-5f7e-8c47-05fa8663c803.json b/labels/outdoor/38/3802500e-3b64-5f7e-8c47-05fa8663c803.json
index 9301dbeb08b83be409c23791587883a95dab7430..a8b41e6a022dacf3a7c38325717f4ead7ea735bc 100644
--- a/labels/outdoor/38/3802500e-3b64-5f7e-8c47-05fa8663c803.json
+++ b/labels/outdoor/38/3802500e-3b64-5f7e-8c47-05fa8663c803.json
@@ -1 +1 @@
-[{"t0": 18, "t_end": 32, "instruction": "Go to the area with the billboard.", "destination": "the area with the billboard", "start_xy": [560, 425], "ang_err_namer_deg": 0.08040871021928654, "ang_err_cycle_deg": 2.1296622196548722, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "3802500e_seg0", "clip": "3802500e-3b64-5f7e-8c47-05fa8663c803", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 16, "instruction": "Go to the end of the road near the bridge barrier.", "destination": "the end of the road near the bridge barrier", "start_xy": [492, 662], "ang_err_namer_deg": 1.3794530830626548, "ang_err_cycle_deg": 5.245791292637833e-06, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "3802500e_seg1", "clip": "3802500e-3b64-5f7e-8c47-05fa8663c803", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 16, "instruction": "Go to the end of the road near the bridge barrier.", "destination": "the end of the road near the bridge barrier", "start_xy": [492, 662], "ang_err_namer_deg": 1.3794530830626548, "ang_err_cycle_deg": 5.245791292637833e-06, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "3802500e_seg1", "clip": "3802500e-3b64-5f7e-8c47-05fa8663c803", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/38/383417c9-8a43-5c4a-8981-2c16f0a24bb6.json b/labels/outdoor/38/383417c9-8a43-5c4a-8981-2c16f0a24bb6.json
index 4740f5c372a8b67af680cfbb03ad54204bccca7f..17a1677584807eab220faa1cda9057ccf5a7e88e 100644
--- a/labels/outdoor/38/383417c9-8a43-5c4a-8981-2c16f0a24bb6.json
+++ b/labels/outdoor/38/383417c9-8a43-5c4a-8981-2c16f0a24bb6.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the tree near the cliff edge.", "destination": "the tree", "start_xy": [454, 459], "ang_err_namer_deg": 0.0017562827872722026, "ang_err_cycle_deg": 2.1517313267090894, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "383417c9_seg0", "clip": "383417c9-8a43-5c4a-8981-2c16f0a24bb6", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the area by the stone barrier at the curve.", "destination": "the stone barrier at the curve", "start_xy": [750, 700], "ang_err_namer_deg": 0.985664744066523, "ang_err_cycle_deg": 1.3512733979029823, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "383417c9_seg1", "clip": "383417c9-8a43-5c4a-8981-2c16f0a24bb6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the area by the stone barrier at the curve.", "destination": "the stone barrier at the curve", "start_xy": [750, 700], "ang_err_namer_deg": 0.985664744066523, "ang_err_cycle_deg": 1.3512733979029823, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "383417c9_seg1", "clip": "383417c9-8a43-5c4a-8981-2c16f0a24bb6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/38/387e6176-b3bf-51ac-a0cb-b1b597f78601.json b/labels/outdoor/38/387e6176-b3bf-51ac-a0cb-b1b597f78601.json
index cf045c9fc0f9b855fc3b19ba94c12bc3b86589e4..210a4b209acc8e819d284aa8a0d210d01224a979 100644
--- a/labels/outdoor/38/387e6176-b3bf-51ac-a0cb-b1b597f78601.json
+++ b/labels/outdoor/38/387e6176-b3bf-51ac-a0cb-b1b597f78601.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the building on the right.", "destination": "the building on the right", "start_xy": [680, 530], "ang_err_namer_deg": 10.549067599202072, "ang_err_cycle_deg": 9.994974951827968, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "387e6176_seg0", "clip": "387e6176-b3bf-51ac-a0cb-b1b597f78601", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the area behind the car.", "destination": "the area behind the car", "start_xy": [498, 685], "ang_err_namer_deg": 2.1249464808663916, "ang_err_cycle_deg": 2.9701441280836516, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "387e6176_seg1", "clip": "387e6176-b3bf-51ac-a0cb-b1b597f78601", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 26, "instruction": "Go to the gated entrance with the white flags.", "destination": "the gated entrance with the white flags", "start_xy": [583, 605], "ang_err_namer_deg": 9.035340311455352, "ang_err_cycle_deg": 7.448162964314815, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "387e6176_seg2", "clip": "387e6176-b3bf-51ac-a0cb-b1b597f78601", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [473, 619], "ang_err_namer_deg": 4.440190037314898, "ang_err_cycle_deg": 4.60898749829211, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "387e6176_seg3", "clip": "387e6176-b3bf-51ac-a0cb-b1b597f78601", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [473, 619], "ang_err_namer_deg": 4.440190037314898, "ang_err_cycle_deg": 4.60898749829211, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "387e6176_seg3", "clip": "387e6176-b3bf-51ac-a0cb-b1b597f78601", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/38/389895df-4413-5fa7-9e56-e31a45291912.json b/labels/outdoor/38/389895df-4413-5fa7-9e56-e31a45291912.json
index d1f9d7cfc1d1b530944350182f68c802b88eb309..135ad776f1a73bf2ac4ec16747349714c4841a16 100644
--- a/labels/outdoor/38/389895df-4413-5fa7-9e56-e31a45291912.json
+++ b/labels/outdoor/38/389895df-4413-5fa7-9e56-e31a45291912.json
@@ -1 +1 @@
-[{"t0": 53, "t_end": 74, "instruction": "Go to the decorative pole with the hanging blue and red banners on the right.", "destination": "the decorative pole with the hanging blue and red banners on the right", "start_xy": [958, 381], "ang_err_namer_deg": 3.338791216848013, "ang_err_cycle_deg": 3.1142397064167158, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "389895df_seg0", "clip": "389895df-4413-5fa7-9e56-e31a45291912", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 51, "instruction": "Go to the intersection with the crosswalk.", "destination": "the intersection with the crosswalk", "start_xy": [161, 804], "ang_err_namer_deg": 1.6003515677509408, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "389895df_seg1", "clip": "389895df-4413-5fa7-9e56-e31a45291912", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the yellow and black striped barrier.", "destination": "yellow and black striped barrier", "start_xy": [346, 684], "ang_err_namer_deg": 12.7080218361355, "ang_err_cycle_deg": 12.559567656406076, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "389895df_seg2", "clip": "389895df-4413-5fa7-9e56-e31a45291912", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 53, "t_end": 74, "instruction": "Go to the decorative pole with the hanging blue and red banners on the right.", "destination": "the decorative pole with the hanging blue and red banners on the right", "start_xy": [958, 381], "ang_err_namer_deg": 3.338791216848013, "ang_err_cycle_deg": 3.1142397064167158, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "389895df_seg0", "clip": "389895df-4413-5fa7-9e56-e31a45291912", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/39/39cce5f6-aded-5adb-8664-a6a6fc934d7d.json b/labels/outdoor/39/39cce5f6-aded-5adb-8664-a6a6fc934d7d.json
index 5b30448d32f8e152f9d12b6b2bd97438159bfd1a..31e262d4c2a75ad5e395c4c22016af491610802b 100644
--- a/labels/outdoor/39/39cce5f6-aded-5adb-8664-a6a6fc934d7d.json
+++ b/labels/outdoor/39/39cce5f6-aded-5adb-8664-a6a6fc934d7d.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the intersection ahead.", "destination": "the intersection", "start_xy": [737, 579], "ang_err_namer_deg": 0.5763529478061523, "ang_err_cycle_deg": 4.317813875892479, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "39cce5f6_seg0", "clip": "39cce5f6-aded-5adb-8664-a6a6fc934d7d", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the concrete block at the edge of the road.", "destination": "the concrete block at the edge of the road", "start_xy": [405, 673], "ang_err_namer_deg": 11.423540423888186, "ang_err_cycle_deg": 11.423540423888186, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "39cce5f6_seg1", "clip": "39cce5f6-aded-5adb-8664-a6a6fc934d7d", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the stone gabion wall.", "destination": "the stone gabion wall", "start_xy": [454, 662], "ang_err_namer_deg": 8.82327751706917, "ang_err_cycle_deg": 8.82327751706917, "confidence": "B", "arrival_ok": false, "duration_s": 4.954949739487396, "tier": "M", "id": "39cce5f6_seg2", "clip": "39cce5f6-aded-5adb-8664-a6a6fc934d7d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the intersection ahead.", "destination": "the intersection", "start_xy": [737, 579], "ang_err_namer_deg": 0.5763529478061523, "ang_err_cycle_deg": 4.317813875892479, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "39cce5f6_seg0", "clip": "39cce5f6-aded-5adb-8664-a6a6fc934d7d", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the concrete block at the edge of the road.", "destination": "the concrete block at the edge of the road", "start_xy": [405, 673], "ang_err_namer_deg": 11.423540423888186, "ang_err_cycle_deg": 11.423540423888186, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "39cce5f6_seg1", "clip": "39cce5f6-aded-5adb-8664-a6a6fc934d7d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3c/3c264c7e-690d-5505-ba03-dfadce13620e.json b/labels/outdoor/3c/3c264c7e-690d-5505-ba03-dfadce13620e.json
index 495c376d2f49213ce16b2238c453dab766d8d1e3..824f7a0b73f182ba3d537906013e6993c66451d2 100644
--- a/labels/outdoor/3c/3c264c7e-690d-5505-ba03-dfadce13620e.json
+++ b/labels/outdoor/3c/3c264c7e-690d-5505-ba03-dfadce13620e.json
@@ -1 +1 @@
-[{"t0": 40, "t_end": 78, "instruction": "Go to the recycling bin.", "destination": "recycling bin", "start_xy": [703, 517], "ang_err_namer_deg": 5.085439676474346, "ang_err_cycle_deg": 4.579728478160644, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "3c264c7e_seg0", "clip": "3c264c7e-690d-5505-ba03-dfadce13620e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 38, "instruction": "Go to the corner with the trash can.", "destination": "the trash can", "start_xy": [567, 420], "ang_err_namer_deg": 6.1862390621573535, "ang_err_cycle_deg": 6.360879915756792, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "3c264c7e_seg1", "clip": "3c264c7e-690d-5505-ba03-dfadce13620e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 38, "instruction": "Go to the corner with the trash can.", "destination": "the trash can", "start_xy": [567, 420], "ang_err_namer_deg": 6.1862390621573535, "ang_err_cycle_deg": 6.360879915756792, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "3c264c7e_seg1", "clip": "3c264c7e-690d-5505-ba03-dfadce13620e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3c/3c76e71d-3ecc-514b-869a-857fa5c9909e.json b/labels/outdoor/3c/3c76e71d-3ecc-514b-869a-857fa5c9909e.json
index 361c0419e5b8123c47456f7371b4d82b450f664e..2903198126e54b41c79148eb2752a057f73dcf08 100644
--- a/labels/outdoor/3c/3c76e71d-3ecc-514b-869a-857fa5c9909e.json
+++ b/labels/outdoor/3c/3c76e71d-3ecc-514b-869a-857fa5c9909e.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the yellow construction equipment.", "destination": "the yellow construction equipment", "start_xy": [526, 634], "ang_err_namer_deg": 11.744388452443431, "ang_err_cycle_deg": 10.84767122489518, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "3c76e71d_seg0", "clip": "3c76e71d-3ecc-514b-869a-857fa5c9909e", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 30, "instruction": "Go to the red-roofed cabins.", "destination": "the red-roofed cabins", "start_xy": [605, 599], "ang_err_namer_deg": 9.31461039310597, "ang_err_cycle_deg": 10.793854883308958, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "3c76e71d_seg1", "clip": "3c76e71d-3ecc-514b-869a-857fa5c9909e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 16, "t_end": 30, "instruction": "Go to the red-roofed cabins.", "destination": "the red-roofed cabins", "start_xy": [605, 599], "ang_err_namer_deg": 9.31461039310597, "ang_err_cycle_deg": 10.793854883308958, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "3c76e71d_seg1", "clip": "3c76e71d-3ecc-514b-869a-857fa5c9909e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3c/3c939c9e-a78a-5628-b8da-f2834f113afd.json b/labels/outdoor/3c/3c939c9e-a78a-5628-b8da-f2834f113afd.json
index 00879f930b3c1986c2e0aabd23e12655e674b9c7..92fbe4db11fcb6bf89d8a3128653b59f9199c5d0 100644
--- a/labels/outdoor/3c/3c939c9e-a78a-5628-b8da-f2834f113afd.json
+++ b/labels/outdoor/3c/3c939c9e-a78a-5628-b8da-f2834f113afd.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the small building on the left side of the road.", "destination": "the small building on the left side of the road", "start_xy": [315, 718], "ang_err_namer_deg": 7.236135715609376, "ang_err_cycle_deg": 22.253804084407005, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "3c939c9e_seg0", "clip": "3c939c9e-a78a-5628-b8da-f2834f113afd", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the mountain road guardrail.", "destination": "the area by the mountain road guardrail", "start_xy": [483, 757], "ang_err_namer_deg": 7.439443759276657, "ang_err_cycle_deg": 2.118475885166302, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3c939c9e_seg1", "clip": "3c939c9e-a78a-5628-b8da-f2834f113afd", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area with the traffic sign.", "destination": "the traffic sign", "start_xy": [796, 558], "ang_err_namer_deg": 7.656166585930488, "ang_err_cycle_deg": 7.5848932145652395, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "3c939c9e_seg2", "clip": "3c939c9e-a78a-5628-b8da-f2834f113afd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the area by the mountain road guardrail.", "destination": "the area by the mountain road guardrail", "start_xy": [483, 757], "ang_err_namer_deg": 7.439443759276657, "ang_err_cycle_deg": 2.118475885166302, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3c939c9e_seg1", "clip": "3c939c9e-a78a-5628-b8da-f2834f113afd", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area with the traffic sign.", "destination": "the traffic sign", "start_xy": [796, 558], "ang_err_namer_deg": 7.656166585930488, "ang_err_cycle_deg": 7.5848932145652395, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "3c939c9e_seg2", "clip": "3c939c9e-a78a-5628-b8da-f2834f113afd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3c/3cf5f3ae-6fe1-532a-ab82-3b2c78aee064.json b/labels/outdoor/3c/3cf5f3ae-6fe1-532a-ab82-3b2c78aee064.json
index 5d3adea4db6e69f1bd160854ea8ce7af8045078d..280ed93e259894b4333d9d82663b60127bb162c1 100644
--- a/labels/outdoor/3c/3cf5f3ae-6fe1-532a-ab82-3b2c78aee064.json
+++ b/labels/outdoor/3c/3cf5f3ae-6fe1-532a-ab82-3b2c78aee064.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the traffic mirror.", "destination": "the traffic mirror", "start_xy": [421, 622], "ang_err_namer_deg": 1.8414953236396994, "ang_err_cycle_deg": 1.8414953236396994, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "3cf5f3ae_seg0", "clip": "3cf5f3ae-6fe1-532a-ab82-3b2c78aee064", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the red car.", "destination": "the red car", "start_xy": [613, 680], "ang_err_namer_deg": 9.99124855253671, "ang_err_cycle_deg": 10.042283682306923, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "3cf5f3ae_seg1", "clip": "3cf5f3ae-6fe1-532a-ab82-3b2c78aee064", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area with the traffic mirror.", "destination": "the traffic mirror", "start_xy": [421, 622], "ang_err_namer_deg": 1.8414953236396994, "ang_err_cycle_deg": 1.8414953236396994, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "3cf5f3ae_seg0", "clip": "3cf5f3ae-6fe1-532a-ab82-3b2c78aee064", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3d/3d5138ae-3e90-5047-bdff-18d6b2e90bc0.json b/labels/outdoor/3d/3d5138ae-3e90-5047-bdff-18d6b2e90bc0.json
index 60196c4040b77d8f43bcfa9b88006f78ec6eea5c..2ab3cbe76154dd93e5dd6fc77d9548861656e174 100644
--- a/labels/outdoor/3d/3d5138ae-3e90-5047-bdff-18d6b2e90bc0.json
+++ b/labels/outdoor/3d/3d5138ae-3e90-5047-bdff-18d6b2e90bc0.json
@@ -1 +1 @@
-[{"t0": 17, "t_end": 55, "instruction": "Go to the area in front of the building entrance near the large trees.", "destination": "the area in front of the building entrance near the large trees", "start_xy": [750, 500], "ang_err_namer_deg": 5.223692386187961, "ang_err_cycle_deg": 11.81628176489327, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "3d5138ae_seg0", "clip": "3d5138ae-3e90-5047-bdff-18d6b2e90bc0", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 15, "instruction": "Go to the orange construction sign.", "destination": "orange construction sign", "start_xy": [435, 662], "ang_err_namer_deg": 5.790887518743162, "ang_err_cycle_deg": 5.660459336471656, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "3d5138ae_seg1", "clip": "3d5138ae-3e90-5047-bdff-18d6b2e90bc0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 15, "instruction": "Go to the orange construction sign.", "destination": "orange construction sign", "start_xy": [435, 662], "ang_err_namer_deg": 5.790887518743162, "ang_err_cycle_deg": 5.660459336471656, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "3d5138ae_seg1", "clip": "3d5138ae-3e90-5047-bdff-18d6b2e90bc0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3e/3e279b84-4121-5947-9f5b-6e52de6ca386.json b/labels/outdoor/3e/3e279b84-4121-5947-9f5b-6e52de6ca386.json
index 982132ca94649c69b9877d352b05863953db66ba..a4ecbaed47c136dae249316b870ec16cbb05c1bc 100644
--- a/labels/outdoor/3e/3e279b84-4121-5947-9f5b-6e52de6ca386.json
+++ b/labels/outdoor/3e/3e279b84-4121-5947-9f5b-6e52de6ca386.json
@@ -1 +1 @@
-[{"t0": 29, "t_end": 67, "instruction": "Go to the small building on the side of the road.", "destination": "the small building", "start_xy": [628, 483], "ang_err_namer_deg": 10.904929325988842, "ang_err_cycle_deg": 13.343123154206038, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "3e279b84_seg0", "clip": "3e279b84-4121-5947-9f5b-6e52de6ca386", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the area with the flags.", "destination": "the area with the flags", "start_xy": [485, 427], "ang_err_namer_deg": 7.000313876924238, "ang_err_cycle_deg": 7.000313876924238, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "3e279b84_seg1", "clip": "3e279b84-4121-5947-9f5b-6e52de6ca386", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 16, "instruction": "Go to the area with the flags.", "destination": "the area with the flags", "start_xy": [485, 427], "ang_err_namer_deg": 7.000313876924238, "ang_err_cycle_deg": 7.000313876924238, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "3e279b84_seg1", "clip": "3e279b84-4121-5947-9f5b-6e52de6ca386", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3f/3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c.json b/labels/outdoor/3f/3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c.json
index d7004c59d000ce0a917f0875519ee90e6ff1dd35..1b631061f3b2e45e42052f80ae1999e9cee87ea8 100644
--- a/labels/outdoor/3f/3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c.json
+++ b/labels/outdoor/3f/3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c.json
@@ -1 +1 @@
-[{"t0": 24, "t_end": 56, "instruction": "Go to the brown building with the Schneider flag.", "destination": "the brown building with the Schneider flag", "start_xy": [530, 505], "ang_err_namer_deg": 1.8960260920156826, "ang_err_cycle_deg": 2.3430357316532535, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "3fbcbea9_seg0", "clip": "3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 22, "instruction": "Go to the brown building in the distance.", "destination": "the brown building in the distance", "start_xy": [454, 551], "ang_err_namer_deg": 0.16092117136975673, "ang_err_cycle_deg": 0.16092117136975673, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "3fbcbea9_seg1", "clip": "3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 24, "t_end": 56, "instruction": "Go to the brown building with the Schneider flag.", "destination": "the brown building with the Schneider flag", "start_xy": [530, 505], "ang_err_namer_deg": 1.8960260920156826, "ang_err_cycle_deg": 2.3430357316532535, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "3fbcbea9_seg0", "clip": "3fbcbea9-bfe8-58ac-92a4-66a9b4e1684c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/3f/3fd48c44-6ab2-5a67-b6d1-b673f1ebc266.json b/labels/outdoor/3f/3fd48c44-6ab2-5a67-b6d1-b673f1ebc266.json
index 4d0d4efca10123c769a052e74c692228c9ea4170..58504047b09fdfb77478088e5406a9820bd67566 100644
--- a/labels/outdoor/3f/3fd48c44-6ab2-5a67-b6d1-b673f1ebc266.json
+++ b/labels/outdoor/3f/3fd48c44-6ab2-5a67-b6d1-b673f1ebc266.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the white car parked on the roadside.", "destination": "the white car", "start_xy": [978, 643], "ang_err_namer_deg": 4.014704669799291, "ang_err_cycle_deg": 3.9251532934573903, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3fd48c44_seg0", "clip": "3fd48c44-6ab2-5a67-b6d1-b673f1ebc266", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the blue car.", "destination": "blue car", "start_xy": [605, 686], "ang_err_namer_deg": 3.625396089482427, "ang_err_cycle_deg": 3.4656892442258744, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3fd48c44_seg1", "clip": "3fd48c44-6ab2-5a67-b6d1-b673f1ebc266", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the motorcycle ahead on the road.", "destination": "motorcycle", "start_xy": [532, 692], "ang_err_namer_deg": 0.8175937316268435, "ang_err_cycle_deg": 0.8175937316268435, "confidence": "B", "arrival_ok": false, "duration_s": 4.954949739487396, "tier": "M", "id": "3fd48c44_seg2", "clip": "3fd48c44-6ab2-5a67-b6d1-b673f1ebc266", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the white car parked on the roadside.", "destination": "the white car", "start_xy": [978, 643], "ang_err_namer_deg": 4.014704669799291, "ang_err_cycle_deg": 3.9251532934573903, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3fd48c44_seg0", "clip": "3fd48c44-6ab2-5a67-b6d1-b673f1ebc266", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the blue car.", "destination": "blue car", "start_xy": [605, 686], "ang_err_namer_deg": 3.625396089482427, "ang_err_cycle_deg": 3.4656892442258744, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "3fd48c44_seg1", "clip": "3fd48c44-6ab2-5a67-b6d1-b673f1ebc266", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/40/403dbf5e-af93-5e0b-a017-7dc92357d76b.json b/labels/outdoor/40/403dbf5e-af93-5e0b-a017-7dc92357d76b.json
index c9b9ad089b637be7970672134e499e3f2007f984..435f13231dff2d58fa58b5482beed66cd37ba452 100644
--- a/labels/outdoor/40/403dbf5e-af93-5e0b-a017-7dc92357d76b.json
+++ b/labels/outdoor/40/403dbf5e-af93-5e0b-a017-7dc92357d76b.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the signal pole.", "destination": "signal pole", "start_xy": [465, 541], "ang_err_namer_deg": 11.707047865918689, "ang_err_cycle_deg": 11.707047865918689, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "403dbf5e_seg0", "clip": "403dbf5e-af93-5e0b-a017-7dc92357d76b", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the concrete pillar with graffiti.", "destination": "the concrete pillar with graffiti", "start_xy": [485, 272], "ang_err_namer_deg": 6.466632944291187, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "403dbf5e_seg1", "clip": "403dbf5e-af93-5e0b-a017-7dc92357d76b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the signal pole.", "destination": "signal pole", "start_xy": [465, 541], "ang_err_namer_deg": 11.707047865918689, "ang_err_cycle_deg": 11.707047865918689, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "403dbf5e_seg0", "clip": "403dbf5e-af93-5e0b-a017-7dc92357d76b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/40/40690055-ea8b-512e-9be3-16862bfb00aa.json b/labels/outdoor/40/40690055-ea8b-512e-9be3-16862bfb00aa.json
index 1766b2a41ca0d260f71cf921abceb8f514ce89a3..743287425080f78db43d3b3978d9cf60b0af626f 100644
--- a/labels/outdoor/40/40690055-ea8b-512e-9be3-16862bfb00aa.json
+++ b/labels/outdoor/40/40690055-ea8b-512e-9be3-16862bfb00aa.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the area by the white fence.", "destination": "the white fence", "start_xy": [574, 724], "ang_err_namer_deg": 7.464720448128852, "ang_err_cycle_deg": 8.13222901250367, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "40690055_seg0", "clip": "40690055-ea8b-512e-9be3-16862bfb00aa", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the road sign on the left.", "destination": "the road sign on the left", "start_xy": [372, 693], "ang_err_namer_deg": 7.49421147014567, "ang_err_cycle_deg": 7.421289485662508, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "40690055_seg1", "clip": "40690055-ea8b-512e-9be3-16862bfb00aa", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 26, "instruction": "Go to the area where the road curves towards the distant mountain.", "destination": "the curve in the road", "start_xy": [420, 745], "ang_err_namer_deg": 2.301741726491209, "ang_err_cycle_deg": 3.927509443018221, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "40690055_seg2", "clip": "40690055-ea8b-512e-9be3-16862bfb00aa", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road", "start_xy": [450, 750], "ang_err_namer_deg": 0.2863450974652429, "ang_err_cycle_deg": 5.549838553521736, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "40690055_seg3", "clip": "40690055-ea8b-512e-9be3-16862bfb00aa", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 28, "t_end": 45, "instruction": "Go to the road sign on the left.", "destination": "the road sign on the left", "start_xy": [372, 693], "ang_err_namer_deg": 7.49421147014567, "ang_err_cycle_deg": 7.421289485662508, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "40690055_seg1", "clip": "40690055-ea8b-512e-9be3-16862bfb00aa", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/40/408c618e-1659-55fa-b93c-919e6f9b43b5.json b/labels/outdoor/40/408c618e-1659-55fa-b93c-919e6f9b43b5.json
index fb37453972d0d7fddd9392b364919ddc451c321c..b0053df9d155893fe3665b16666807e63c284fd0 100644
--- a/labels/outdoor/40/408c618e-1659-55fa-b93c-919e6f9b43b5.json
+++ b/labels/outdoor/40/408c618e-1659-55fa-b93c-919e6f9b43b5.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the wooden door.", "destination": "the wooden door", "start_xy": [343, 381], "ang_err_namer_deg": 8.848632142519724, "ang_err_cycle_deg": 8.923011025581118, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "408c618e_seg0", "clip": "408c618e-1659-55fa-b93c-919e6f9b43b5", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with the wooden door and the bench.", "destination": "the area with the wooden door and the bench", "start_xy": [483, 273], "ang_err_namer_deg": 0.12256904312722879, "ang_err_cycle_deg": 4.70498905695682, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "408c618e_seg1", "clip": "408c618e-1659-55fa-b93c-919e6f9b43b5", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the potted plants.", "destination": "the potted plants", "start_xy": [464, 505], "ang_err_namer_deg": 6.17513446433028, "ang_err_cycle_deg": 5.554455329339158, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "408c618e_seg2", "clip": "408c618e-1659-55fa-b93c-919e6f9b43b5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the area with the wooden door and the bench.", "destination": "the area with the wooden door and the bench", "start_xy": [483, 273], "ang_err_namer_deg": 0.12256904312722879, "ang_err_cycle_deg": 4.70498905695682, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "408c618e_seg1", "clip": "408c618e-1659-55fa-b93c-919e6f9b43b5", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the potted plants.", "destination": "the potted plants", "start_xy": [464, 505], "ang_err_namer_deg": 6.17513446433028, "ang_err_cycle_deg": 5.554455329339158, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "408c618e_seg2", "clip": "408c618e-1659-55fa-b93c-919e6f9b43b5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/41/4120d5e2-25c9-5a90-a917-86f98fbf89f5.json b/labels/outdoor/41/4120d5e2-25c9-5a90-a917-86f98fbf89f5.json
index 74602d463982340627e8efef317054e7cd22df3a..4490913bd716f16bd96ebc30bd7294723bd4e02c 100644
--- a/labels/outdoor/41/4120d5e2-25c9-5a90-a917-86f98fbf89f5.json
+++ b/labels/outdoor/41/4120d5e2-25c9-5a90-a917-86f98fbf89f5.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the house with the 'A LOUER' sign.", "destination": "the house with the 'A LOUER' sign", "start_xy": [570, 420], "ang_err_namer_deg": 10.519291594525514, "ang_err_cycle_deg": 6.727746943413645, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "4120d5e2_seg0", "clip": "4120d5e2-25c9-5a90-a917-86f98fbf89f5", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall along the road", "start_xy": [366, 505], "ang_err_namer_deg": 13.111438566487339, "ang_err_cycle_deg": 20.466811194912854, "confidence": "B", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "4120d5e2_seg1", "clip": "4120d5e2-25c9-5a90-a917-86f98fbf89f5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the house with the 'A LOUER' sign.", "destination": "the house with the 'A LOUER' sign", "start_xy": [570, 420], "ang_err_namer_deg": 10.519291594525514, "ang_err_cycle_deg": 6.727746943413645, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "4120d5e2_seg0", "clip": "4120d5e2-25c9-5a90-a917-86f98fbf89f5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/41/41260624-3f11-53e2-8232-e250f6039028.json b/labels/outdoor/41/41260624-3f11-53e2-8232-e250f6039028.json
index ec2b7894e150b8dc8e2470fa3a6c68c1212d3a37..1a10cf301969ca284d5caad280ac8e195c59ece2 100644
--- a/labels/outdoor/41/41260624-3f11-53e2-8232-e250f6039028.json
+++ b/labels/outdoor/41/41260624-3f11-53e2-8232-e250f6039028.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the red trash bin by the roadside sign.", "destination": "red trash bin", "start_xy": [454, 627], "ang_err_namer_deg": 10.183237361057978, "ang_err_cycle_deg": 2.4526272469373747, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41260624_seg0", "clip": "41260624-3f11-53e2-8232-e250f6039028", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [472, 639], "ang_err_namer_deg": 0.6016311285953644, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41260624_seg1", "clip": "41260624-3f11-53e2-8232-e250f6039028", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the red trash bin by the roadside sign.", "destination": "red trash bin", "start_xy": [454, 627], "ang_err_namer_deg": 10.183237361057978, "ang_err_cycle_deg": 2.4526272469373747, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41260624_seg0", "clip": "41260624-3f11-53e2-8232-e250f6039028", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/41/41de678b-d93c-51e1-88bf-20772fb3cf0d.json b/labels/outdoor/41/41de678b-d93c-51e1-88bf-20772fb3cf0d.json
index e923c1b616c297b27ee84fbe3e6cb85aecdaacb6..1460a50842209f4f4b8901e688e0ab89acba03c7 100644
--- a/labels/outdoor/41/41de678b-d93c-51e1-88bf-20772fb3cf0d.json
+++ b/labels/outdoor/41/41de678b-d93c-51e1-88bf-20772fb3cf0d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the large potted plants.", "destination": "the area with the large potted plants", "start_xy": [750, 800], "ang_err_namer_deg": 4.759603319351722, "ang_err_cycle_deg": 6.62051522552262, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41de678b_seg0", "clip": "41de678b-d93c-51e1-88bf-20772fb3cf0d", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the tree-lined area with the large potted plants on the right.", "destination": "the area with potted plants on the right", "start_xy": [750, 700], "ang_err_namer_deg": 13.729108282683121, "ang_err_cycle_deg": 19.30957965763932, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41de678b_seg1", "clip": "41de678b-d93c-51e1-88bf-20772fb3cf0d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the large potted plants.", "destination": "the area with the large potted plants", "start_xy": [750, 800], "ang_err_namer_deg": 4.759603319351722, "ang_err_cycle_deg": 6.62051522552262, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "41de678b_seg0", "clip": "41de678b-d93c-51e1-88bf-20772fb3cf0d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/42/422076db-1e16-5bc4-aa7f-6bc3459cd9fc.json b/labels/outdoor/42/422076db-1e16-5bc4-aa7f-6bc3459cd9fc.json
index 2ee00a2ffe1c4109618e891282e25c798081e94a..9d08b7d6fc306e78c7bc31cd240484957061a184 100644
--- a/labels/outdoor/42/422076db-1e16-5bc4-aa7f-6bc3459cd9fc.json
+++ b/labels/outdoor/42/422076db-1e16-5bc4-aa7f-6bc3459cd9fc.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the power pole on the right side of the road.", "destination": "the power pole on the right", "start_xy": [687, 515], "ang_err_namer_deg": 10.414508803659537, "ang_err_cycle_deg": 10.773788547223274, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "422076db_seg0", "clip": "422076db-1e16-5bc4-aa7f-6bc3459cd9fc", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area of the road where the silver van is driving.", "destination": "the silver van on the road", "start_xy": [677, 673], "ang_err_namer_deg": 1.9199690266505782, "ang_err_cycle_deg": 3.4932585038746558, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "422076db_seg1", "clip": "422076db-1e16-5bc4-aa7f-6bc3459cd9fc", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the area along the road near the retaining wall.", "destination": "the area along the road near the retaining wall", "start_xy": [787, 550], "ang_err_namer_deg": 11.461628956709722, "ang_err_cycle_deg": 15.677371947537951, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "422076db_seg2", "clip": "422076db-1e16-5bc4-aa7f-6bc3459cd9fc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the power pole on the right side of the road.", "destination": "the power pole on the right", "start_xy": [687, 515], "ang_err_namer_deg": 10.414508803659537, "ang_err_cycle_deg": 10.773788547223274, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "422076db_seg0", "clip": "422076db-1e16-5bc4-aa7f-6bc3459cd9fc", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the area along the road near the retaining wall.", "destination": "the area along the road near the retaining wall", "start_xy": [787, 550], "ang_err_namer_deg": 11.461628956709722, "ang_err_cycle_deg": 15.677371947537951, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "422076db_seg2", "clip": "422076db-1e16-5bc4-aa7f-6bc3459cd9fc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/42/42961117-25c2-5533-aede-2989183a6598.json b/labels/outdoor/42/42961117-25c2-5533-aede-2989183a6598.json
index 1422a37c02676a39e73a010436382f88744a7198..6469be23d2afff62866b1f6f5b36d7191de0b824 100644
--- a/labels/outdoor/42/42961117-25c2-5533-aede-2989183a6598.json
+++ b/labels/outdoor/42/42961117-25c2-5533-aede-2989183a6598.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the sharp curve in the road.", "destination": "the sharp curve in the road", "start_xy": [570, 558], "ang_err_namer_deg": 5.749400492293512, "ang_err_cycle_deg": 2.5053434016750797, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "42961117_seg0", "clip": "42961117-25c2-5533-aede-2989183a6598", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area where the guardrail ends near the viewpoint.", "destination": "the area where the guardrail ends", "start_xy": [750, 650], "ang_err_namer_deg": 12.52278953172288, "ang_err_cycle_deg": 6.555784594492038, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "42961117_seg1", "clip": "42961117-25c2-5533-aede-2989183a6598", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 23, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [902, 539], "ang_err_namer_deg": 6.569691527324139, "ang_err_cycle_deg": 6.569691527324139, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "42961117_seg2", "clip": "42961117-25c2-5533-aede-2989183a6598", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the sharp curve in the road.", "destination": "the sharp curve in the road", "start_xy": [570, 558], "ang_err_namer_deg": 5.749400492293512, "ang_err_cycle_deg": 2.5053434016750797, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "42961117_seg0", "clip": "42961117-25c2-5533-aede-2989183a6598", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 23, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [902, 539], "ang_err_namer_deg": 6.569691527324139, "ang_err_cycle_deg": 6.569691527324139, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "42961117_seg2", "clip": "42961117-25c2-5533-aede-2989183a6598", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/42/42cd0e7b-6c1f-5b02-a94c-a8847303db1b.json b/labels/outdoor/42/42cd0e7b-6c1f-5b02-a94c-a8847303db1b.json
index 3598b9acaf7b5969a304d848e1edd65f1aa2d1d8..70f4fe8907257e34a95e09650db4cea5df301811 100644
--- a/labels/outdoor/42/42cd0e7b-6c1f-5b02-a94c-a8847303db1b.json
+++ b/labels/outdoor/42/42cd0e7b-6c1f-5b02-a94c-a8847303db1b.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the wooden barn on the grassy hillside.", "destination": "the wooden barn", "start_xy": [302, 570], "ang_err_namer_deg": 11.10850969872494, "ang_err_cycle_deg": 11.685904084814576, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "42cd0e7b_seg0", "clip": "42cd0e7b-6c1f-5b02-a94c-a8847303db1b", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [485, 668], "ang_err_namer_deg": 6.82474077632888, "ang_err_cycle_deg": 3.201057155456623, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "42cd0e7b_seg1", "clip": "42cd0e7b-6c1f-5b02-a94c-a8847303db1b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [485, 668], "ang_err_namer_deg": 6.82474077632888, "ang_err_cycle_deg": 3.201057155456623, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "42cd0e7b_seg1", "clip": "42cd0e7b-6c1f-5b02-a94c-a8847303db1b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/43/4311783c-bef6-5da6-99f4-95027a6384c6.json b/labels/outdoor/43/4311783c-bef6-5da6-99f4-95027a6384c6.json
index 651c02f397558fe62c5ca0b5248c8ea8299572ed..6b552be302fe7bf4f283791196db5fc63cb7e2f8 100644
--- a/labels/outdoor/43/4311783c-bef6-5da6-99f4-95027a6384c6.json
+++ b/labels/outdoor/43/4311783c-bef6-5da6-99f4-95027a6384c6.json
@@ -1 +1 @@
-[{"t0": 45, "t_end": 64, "instruction": "Go to the blue arrow road sign.", "destination": "the blue arrow road sign", "start_xy": [655, 654], "ang_err_namer_deg": 7.248112509275869, "ang_err_cycle_deg": 7.248112509275869, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "4311783c_seg0", "clip": "4311783c-bef6-5da6-99f4-95027a6384c6", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 33, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [484, 782], "ang_err_namer_deg": 13.071584252938214, "ang_err_cycle_deg": 3.2509959643284336, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "4311783c_seg1", "clip": "4311783c-bef6-5da6-99f4-95027a6384c6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 33, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [484, 782], "ang_err_namer_deg": 13.071584252938214, "ang_err_cycle_deg": 3.2509959643284336, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "4311783c_seg1", "clip": "4311783c-bef6-5da6-99f4-95027a6384c6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/43/4377178a-cdba-5bfa-b9a2-a1fd30cbde55.json b/labels/outdoor/43/4377178a-cdba-5bfa-b9a2-a1fd30cbde55.json
index bfcffbd1e660dfb3c68012155e5368db1f608f06..781bd36bdd5397f2fb311f246fe6e308c3006991 100644
--- a/labels/outdoor/43/4377178a-cdba-5bfa-b9a2-a1fd30cbde55.json
+++ b/labels/outdoor/43/4377178a-cdba-5bfa-b9a2-a1fd30cbde55.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the train tracks.", "destination": "the utility pole", "start_xy": [523, 427], "ang_err_namer_deg": 7.361009322179666, "ang_err_cycle_deg": 6.829210041732386, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "4377178a_seg0", "clip": "4377178a-cdba-5bfa-b9a2-a1fd30cbde55", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the wooden utility pole near the tracks.", "destination": "the wooden utility pole", "start_xy": [553, 441], "ang_err_namer_deg": 12.59084909288825, "ang_err_cycle_deg": 12.722084809465189, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "4377178a_seg1", "clip": "4377178a-cdba-5bfa-b9a2-a1fd30cbde55", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the yellow track signal sign.", "destination": "yellow track signal sign", "start_xy": [482, 447], "ang_err_namer_deg": 5.934714218319334, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "4377178a_seg2", "clip": "4377178a-cdba-5bfa-b9a2-a1fd30cbde55", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the train tracks.", "destination": "the utility pole", "start_xy": [523, 427], "ang_err_namer_deg": 7.361009322179666, "ang_err_cycle_deg": 6.829210041732386, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "4377178a_seg0", "clip": "4377178a-cdba-5bfa-b9a2-a1fd30cbde55", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the wooden utility pole near the tracks.", "destination": "the wooden utility pole", "start_xy": [553, 441], "ang_err_namer_deg": 12.59084909288825, "ang_err_cycle_deg": 12.722084809465189, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "4377178a_seg1", "clip": "4377178a-cdba-5bfa-b9a2-a1fd30cbde55", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/44/44a4ddf8-d054-5afb-aad7-8c0dca85d47e.json b/labels/outdoor/44/44a4ddf8-d054-5afb-aad7-8c0dca85d47e.json
index 3f989b089dd693b968f311571956c54e53ff090b..c85ad00c8292268c3b61a0c0d00086a18bfa07fd 100644
--- a/labels/outdoor/44/44a4ddf8-d054-5afb-aad7-8c0dca85d47e.json
+++ b/labels/outdoor/44/44a4ddf8-d054-5afb-aad7-8c0dca85d47e.json
@@ -1 +1 @@
-[{"t0": 71, "t_end": 81, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [427, 643], "ang_err_namer_deg": 1.8061280498328545, "ang_err_cycle_deg": 1.8061280498328545, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "44a4ddf8_seg0", "clip": "44a4ddf8-d054-5afb-aad7-8c0dca85d47e", "source": "spatialvid_v3"}, {"t0": 49, "t_end": 59, "instruction": "Go to the bend in the road near the guardrail.", "destination": "the bend in the road near the guardrail", "start_xy": [323, 743], "ang_err_namer_deg": 3.7276708982185456, "ang_err_cycle_deg": 8.382016257177861, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "44a4ddf8_seg1", "clip": "44a4ddf8-d054-5afb-aad7-8c0dca85d47e", "source": "spatialvid_v3"}, {"t0": 12, "t_end": 47, "instruction": "Go to the red and white road sign on the right.", "destination": "the red and white road sign", "start_xy": [268, 653], "ang_err_namer_deg": 4.3060841354246575, "ang_err_cycle_deg": 4.3060841354246575, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "44a4ddf8_seg2", "clip": "44a4ddf8-d054-5afb-aad7-8c0dca85d47e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [420, 700], "ang_err_namer_deg": 8.631672515017629, "ang_err_cycle_deg": 12.25700800724258, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "44a4ddf8_seg3", "clip": "44a4ddf8-d054-5afb-aad7-8c0dca85d47e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 12, "t_end": 47, "instruction": "Go to the red and white road sign on the right.", "destination": "the red and white road sign", "start_xy": [268, 653], "ang_err_namer_deg": 4.3060841354246575, "ang_err_cycle_deg": 4.3060841354246575, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "44a4ddf8_seg2", "clip": "44a4ddf8-d054-5afb-aad7-8c0dca85d47e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/44/44c06c7a-b783-5a85-b01b-296d154de0f6.json b/labels/outdoor/44/44c06c7a-b783-5a85-b01b-296d154de0f6.json
index 37a4903b779eeafe88324d64005259e46b49cb87..8e2ac8b29298a7e28cc112199336409f3570ab05 100644
--- a/labels/outdoor/44/44c06c7a-b783-5a85-b01b-296d154de0f6.json
+++ b/labels/outdoor/44/44c06c7a-b783-5a85-b01b-296d154de0f6.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the brick plaza.", "destination": "the brick plaza", "start_xy": [670, 700], "ang_err_namer_deg": 1.804451274639113, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "44c06c7a_seg0", "clip": "44c06c7a-b783-5a85-b01b-296d154de0f6", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 24, "instruction": "Go to the area with the blue signs near the building on the right.", "destination": "the area with the blue signs near the building on the right", "start_xy": [653, 662], "ang_err_namer_deg": 12.598196497522816, "ang_err_cycle_deg": 10.33723146836837, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "44c06c7a_seg1", "clip": "44c06c7a-b783-5a85-b01b-296d154de0f6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 24, "instruction": "Go to the area with the blue signs near the building on the right.", "destination": "the area with the blue signs near the building on the right", "start_xy": [653, 662], "ang_err_namer_deg": 12.598196497522816, "ang_err_cycle_deg": 10.33723146836837, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "44c06c7a_seg1", "clip": "44c06c7a-b783-5a85-b01b-296d154de0f6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/45/450a0043-4a26-5b77-ba8c-ee2ae68f4796.json b/labels/outdoor/45/450a0043-4a26-5b77-ba8c-ee2ae68f4796.json
index 2151ea3d5bfa99265667813c116bb48b36339b1c..2690eb0f887939679478298071b4876f0e129d6c 100644
--- a/labels/outdoor/45/450a0043-4a26-5b77-ba8c-ee2ae68f4796.json
+++ b/labels/outdoor/45/450a0043-4a26-5b77-ba8c-ee2ae68f4796.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the rock face by the roadside.", "destination": "the rock face", "start_xy": [372, 622], "ang_err_namer_deg": 4.460805144648563, "ang_err_cycle_deg": 9.39047647550027, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "450a0043_seg0", "clip": "450a0043-4a26-5b77-ba8c-ee2ae68f4796", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the yellow road sign on the left side of the road.", "destination": "the yellow road sign", "start_xy": [655, 750], "ang_err_namer_deg": 5.353768953065863, "ang_err_cycle_deg": 5.353768953065863, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "450a0043_seg1", "clip": "450a0043-4a26-5b77-ba8c-ee2ae68f4796", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 20, "instruction": "Go to the yellow road sign on the left side of the road.", "destination": "the yellow road sign", "start_xy": [655, 750], "ang_err_namer_deg": 5.353768953065863, "ang_err_cycle_deg": 5.353768953065863, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "450a0043_seg1", "clip": "450a0043-4a26-5b77-ba8c-ee2ae68f4796", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/46/46795147-b095-5264-983e-ac8d90724447.json b/labels/outdoor/46/46795147-b095-5264-983e-ac8d90724447.json
index 8148d7a5484959a28e9e1f0b66a295ae07ef6c85..2fd6d9976f107075ad8638ad4448bf400bd9a224 100644
--- a/labels/outdoor/46/46795147-b095-5264-983e-ac8d90724447.json
+++ b/labels/outdoor/46/46795147-b095-5264-983e-ac8d90724447.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [222, 626], "ang_err_namer_deg": 5.168584470698737, "ang_err_cycle_deg": 5.168584470698737, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "46795147_seg0", "clip": "46795147-b095-5264-983e-ac8d90724447", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the road sign with the chevron arrow.", "destination": "the road sign with the chevron arrow", "start_xy": [389, 725], "ang_err_namer_deg": 0.613642261932371, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "46795147_seg1", "clip": "46795147-b095-5264-983e-ac8d90724447", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [222, 626], "ang_err_namer_deg": 5.168584470698737, "ang_err_cycle_deg": 5.168584470698737, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "46795147_seg0", "clip": "46795147-b095-5264-983e-ac8d90724447", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/48/483e9cc1-6d3d-5cdb-977e-cc718c111aea.json b/labels/outdoor/48/483e9cc1-6d3d-5cdb-977e-cc718c111aea.json
index a55a17ffebedff4adedf2baf3538af11ab3c810c..03d32465ba7574d6fc0a5ad062470d045002c192 100644
--- a/labels/outdoor/48/483e9cc1-6d3d-5cdb-977e-cc718c111aea.json
+++ b/labels/outdoor/48/483e9cc1-6d3d-5cdb-977e-cc718c111aea.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the train tracks.", "destination": "the area of the train tracks", "start_xy": [484, 662], "ang_err_namer_deg": 8.663010222165257, "ang_err_cycle_deg": 0.7384978902987467, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "483e9cc1_seg0", "clip": "483e9cc1-6d3d-5cdb-977e-cc718c111aea", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the yellow railroad sign.", "destination": "the yellow railroad sign", "start_xy": [462, 443], "ang_err_namer_deg": 12.931882369741139, "ang_err_cycle_deg": 12.931882369741139, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "483e9cc1_seg1", "clip": "483e9cc1-6d3d-5cdb-977e-cc718c111aea", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area with the white house.", "destination": "the white house", "start_xy": [482, 447], "ang_err_namer_deg": 10.082957363524628, "ang_err_cycle_deg": 9.204110896244005, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "483e9cc1_seg2", "clip": "483e9cc1-6d3d-5cdb-977e-cc718c111aea", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the train tracks.", "destination": "the area of the train tracks", "start_xy": [484, 662], "ang_err_namer_deg": 8.663010222165257, "ang_err_cycle_deg": 0.7384978902987467, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "483e9cc1_seg0", "clip": "483e9cc1-6d3d-5cdb-977e-cc718c111aea", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/48/4889e35a-7a43-583c-a0b1-37829d980660.json b/labels/outdoor/48/4889e35a-7a43-583c-a0b1-37829d980660.json
index 9f9b0b30d8b52d4cdab0a46c04e722f14a97276b..a70a7fb6aaac4735857175200cf8718ac72dc42c 100644
--- a/labels/outdoor/48/4889e35a-7a43-583c-a0b1-37829d980660.json
+++ b/labels/outdoor/48/4889e35a-7a43-583c-a0b1-37829d980660.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the parking pull-off area.", "destination": "the parking pull-off area", "start_xy": [585, 505], "ang_err_namer_deg": 2.6031277660926415, "ang_err_cycle_deg": 0.9486309269332907, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "4889e35a_seg0", "clip": "4889e35a-7a43-583c-a0b1-37829d980660", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the Mt. Rushmore Profile View.", "destination": "Mt. Rushmore Profile View", "start_xy": [585, 353], "ang_err_namer_deg": 12.205676409906587, "ang_err_cycle_deg": 10.551179570747237, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "4889e35a_seg1", "clip": "4889e35a-7a43-583c-a0b1-37829d980660", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the pedestrian crossing sign.", "destination": "pedestrian crossing sign", "start_xy": [768, 492], "ang_err_namer_deg": 0.47409243904755594, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.95495, "tier": "M", "id": "4889e35a_seg2", "clip": "4889e35a-7a43-583c-a0b1-37829d980660", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the parking pull-off area.", "destination": "the parking pull-off area", "start_xy": [585, 505], "ang_err_namer_deg": 2.6031277660926415, "ang_err_cycle_deg": 0.9486309269332907, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "4889e35a_seg0", "clip": "4889e35a-7a43-583c-a0b1-37829d980660", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the Mt. Rushmore Profile View.", "destination": "Mt. Rushmore Profile View", "start_xy": [585, 353], "ang_err_namer_deg": 12.205676409906587, "ang_err_cycle_deg": 10.551179570747237, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "4889e35a_seg1", "clip": "4889e35a-7a43-583c-a0b1-37829d980660", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/49/49021eb3-468c-52c5-bf55-81cdf4ff3968.json b/labels/outdoor/49/49021eb3-468c-52c5-bf55-81cdf4ff3968.json
index 3182e2244c4ce7a7046f015290627fbd95a12b47..0c7580463701e58b2320895be9d4f4c0a1eacafa 100644
--- a/labels/outdoor/49/49021eb3-468c-52c5-bf55-81cdf4ff3968.json
+++ b/labels/outdoor/49/49021eb3-468c-52c5-bf55-81cdf4ff3968.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the bus stop.", "destination": "bus stop", "start_xy": [709, 743], "ang_err_namer_deg": 7.189603750077274, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "49021eb3_seg0", "clip": "49021eb3-468c-52c5-bf55-81cdf4ff3968", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area with the row of parked cars along the stone wall.", "destination": "the area with the row of parked cars along the stone wall", "start_xy": [625, 757], "ang_err_namer_deg": 8.51021365249074, "ang_err_cycle_deg": 8.258213849529477, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "49021eb3_seg1", "clip": "49021eb3-468c-52c5-bf55-81cdf4ff3968", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area with the row of parked cars along the stone wall.", "destination": "the area with the row of parked cars along the stone wall", "start_xy": [625, 757], "ang_err_namer_deg": 8.51021365249074, "ang_err_cycle_deg": 8.258213849529477, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "49021eb3_seg1", "clip": "49021eb3-468c-52c5-bf55-81cdf4ff3968", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/49/490fa99e-4854-50d1-a922-33d6c35d79aa.json b/labels/outdoor/49/490fa99e-4854-50d1-a922-33d6c35d79aa.json
index bb474850194276c7e4f5ef0e27ab8f4f71b30842..4b29c76acbd33962c578cf37191e6db4c2027727 100644
--- a/labels/outdoor/49/490fa99e-4854-50d1-a922-33d6c35d79aa.json
+++ b/labels/outdoor/49/490fa99e-4854-50d1-a922-33d6c35d79aa.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 70, "instruction": "Go to the area of the mountain at the end of the road.", "destination": "mountain at the end of the road", "start_xy": [450, 350], "ang_err_namer_deg": 1.6084384931824773, "ang_err_cycle_deg": 1.4016604747844, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "490fa99e_seg0", "clip": "490fa99e-4854-50d1-a922-33d6c35d79aa", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 49, "instruction": "Go to the area by the stone wall.", "destination": "the stone wall", "start_xy": [750, 700], "ang_err_namer_deg": 10.794047336014176, "ang_err_cycle_deg": 6.947983352135231, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "490fa99e_seg1", "clip": "490fa99e-4854-50d1-a922-33d6c35d79aa", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 14, "t_end": 49, "instruction": "Go to the area by the stone wall.", "destination": "the stone wall", "start_xy": [750, 700], "ang_err_namer_deg": 10.794047336014176, "ang_err_cycle_deg": 6.947983352135231, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "490fa99e_seg1", "clip": "490fa99e-4854-50d1-a922-33d6c35d79aa", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/49/495716f8-ab39-5ff9-ac14-e2ff81f97428.json b/labels/outdoor/49/495716f8-ab39-5ff9-ac14-e2ff81f97428.json
index ff112343bcd1715f54afa47356afbfad589c5073..ece7427e090140a81f673dcce40776aabaaaf45e 100644
--- a/labels/outdoor/49/495716f8-ab39-5ff9-ac14-e2ff81f97428.json
+++ b/labels/outdoor/49/495716f8-ab39-5ff9-ac14-e2ff81f97428.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the brown-walled house with the red roof.", "destination": "the brown-walled house with the red roof", "start_xy": [286, 465], "ang_err_namer_deg": 6.050588300228511, "ang_err_cycle_deg": 6.116535579455881, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "495716f8_seg0", "clip": "495716f8-ab39-5ff9-ac14-e2ff81f97428", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the yellow taxi sign.", "destination": "the yellow taxi sign", "start_xy": [530, 535], "ang_err_namer_deg": 1.0435829703920494, "ang_err_cycle_deg": 0.9026935180511746, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "495716f8_seg1", "clip": "495716f8-ab39-5ff9-ac14-e2ff81f97428", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the patterned-wall house.", "destination": "patterned-wall house", "start_xy": [372, 454], "ang_err_namer_deg": 7.151046830865445, "ang_err_cycle_deg": 7.219871295245998, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "495716f8_seg2", "clip": "495716f8-ab39-5ff9-ac14-e2ff81f97428", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the brown-walled house with the red roof.", "destination": "the brown-walled house with the red roof", "start_xy": [286, 465], "ang_err_namer_deg": 6.050588300228511, "ang_err_cycle_deg": 6.116535579455881, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "495716f8_seg0", "clip": "495716f8-ab39-5ff9-ac14-e2ff81f97428", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/49/499ce0da-b2e1-582e-857c-9c33b2b134a3.json b/labels/outdoor/49/499ce0da-b2e1-582e-857c-9c33b2b134a3.json
index b25a4711b2fdcc275f26c1733e3fa252ede081e6..110fdc64fad9be3611c5354c5e8b4010598ac433 100644
--- a/labels/outdoor/49/499ce0da-b2e1-582e-857c-9c33b2b134a3.json
+++ b/labels/outdoor/49/499ce0da-b2e1-582e-857c-9c33b2b134a3.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the bend in the road with the metal guardrail.", "destination": "the bend in the road with the metal guardrail", "start_xy": [313, 622], "ang_err_namer_deg": 0.06504466943902554, "ang_err_cycle_deg": 0.6562717889799438, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "499ce0da_seg0", "clip": "499ce0da-b2e1-582e-857c-9c33b2b134a3", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the orange sign.", "destination": "the orange sign", "start_xy": [427, 665], "ang_err_namer_deg": 4.945610814860809, "ang_err_cycle_deg": 4.945610814860809, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "499ce0da_seg1", "clip": "499ce0da-b2e1-582e-857c-9c33b2b134a3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the bend in the road with the metal guardrail.", "destination": "the bend in the road with the metal guardrail", "start_xy": [313, 622], "ang_err_namer_deg": 0.06504466943902554, "ang_err_cycle_deg": 0.6562717889799438, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "499ce0da_seg0", "clip": "499ce0da-b2e1-582e-857c-9c33b2b134a3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4a/4ae2e329-bf19-5cb3-9ea8-5a3336c05491.json b/labels/outdoor/4a/4ae2e329-bf19-5cb3-9ea8-5a3336c05491.json
index dac3ab6426ed3626666c08b66d1ae997575e2fe4..32d63eba7e6c3f69d6d6a59bd4360bf94ba58518 100644
--- a/labels/outdoor/4a/4ae2e329-bf19-5cb3-9ea8-5a3336c05491.json
+++ b/labels/outdoor/4a/4ae2e329-bf19-5cb3-9ea8-5a3336c05491.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the red-bordered triangular traffic sign on the stone wall.", "destination": "the red-bordered triangular traffic sign on the stone wall", "start_xy": [485, 703], "ang_err_namer_deg": 12.866686886391106, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4ae2e329_seg0", "clip": "4ae2e329-bf19-5cb3-9ea8-5a3336c05491", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [800, 700], "ang_err_namer_deg": 10.331562917153704, "ang_err_cycle_deg": 15.274252057844823, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4ae2e329_seg1", "clip": "4ae2e329-bf19-5cb3-9ea8-5a3336c05491", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [800, 700], "ang_err_namer_deg": 10.331562917153704, "ang_err_cycle_deg": 15.274252057844823, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4ae2e329_seg1", "clip": "4ae2e329-bf19-5cb3-9ea8-5a3336c05491", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4b/4b59527a-d420-5dce-8f63-fc61e6b539d6.json b/labels/outdoor/4b/4b59527a-d420-5dce-8f63-fc61e6b539d6.json
index 1abd977b87ecf40f07f37caa77c6cc94b7f775c1..1c20c34a9d84084e188145a7f879bdb7f5d1944c 100644
--- a/labels/outdoor/4b/4b59527a-d420-5dce-8f63-fc61e6b539d6.json
+++ b/labels/outdoor/4b/4b59527a-d420-5dce-8f63-fc61e6b539d6.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 82, "instruction": "Go to the railway bridge.", "destination": "the railway bridge", "start_xy": [305, 516], "ang_err_namer_deg": 2.353671514966044, "ang_err_cycle_deg": 2.5009297399671278, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "4b59527a_seg0", "clip": "4b59527a-d420-5dce-8f63-fc61e6b539d6", "source": "spatialvid_v3"}, {"t0": 22, "t_end": 60, "instruction": "Go to the coastal road.", "destination": "the coastal road", "start_xy": [435, 527], "ang_err_namer_deg": 6.223716676508129, "ang_err_cycle_deg": 12.20749527882469, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "4b59527a_seg1", "clip": "4b59527a-d420-5dce-8f63-fc61e6b539d6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 20, "instruction": "Go to the car on the coastal road.", "destination": "the car", "start_xy": [810, 510], "ang_err_namer_deg": 6.145507808086528, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "4b59527a_seg2", "clip": "4b59527a-d420-5dce-8f63-fc61e6b539d6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 22, "t_end": 60, "instruction": "Go to the coastal road.", "destination": "the coastal road", "start_xy": [435, 527], "ang_err_namer_deg": 6.223716676508129, "ang_err_cycle_deg": 12.20749527882469, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "4b59527a_seg1", "clip": "4b59527a-d420-5dce-8f63-fc61e6b539d6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4b/4b65adf4-4509-5cb3-98cb-88da3a4aa006.json b/labels/outdoor/4b/4b65adf4-4509-5cb3-98cb-88da3a4aa006.json
index bc935ca8a091af468dde79f238b987e0bb8db634..8aeb1edae4855125ffbc4015253494067f402759 100644
--- a/labels/outdoor/4b/4b65adf4-4509-5cb3-98cb-88da3a4aa006.json
+++ b/labels/outdoor/4b/4b65adf4-4509-5cb3-98cb-88da3a4aa006.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the concrete stairs built into the retaining wall.", "destination": "the concrete stairs built into the retaining wall", "start_xy": [585, 482], "ang_err_namer_deg": 7.502606876443607, "ang_err_cycle_deg": 8.941189197618138, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "4b65adf4_seg0", "clip": "4b65adf4-4509-5cb3-98cb-88da3a4aa006", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the end of the road near the concrete retaining wall.", "destination": "the end of the road near the concrete retaining wall", "start_xy": [750, 700], "ang_err_namer_deg": 1.0287735724364653, "ang_err_cycle_deg": 0.6320628532630627, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4b65adf4_seg1", "clip": "4b65adf4-4509-5cb3-98cb-88da3a4aa006", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the intersection with the blue road signs.", "destination": "the intersection with the blue road signs", "start_xy": [585, 520], "ang_err_namer_deg": 0.1689763586015455, "ang_err_cycle_deg": 1.269605962572986, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "4b65adf4_seg2", "clip": "4b65adf4-4509-5cb3-98cb-88da3a4aa006", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the end of the road near the concrete retaining wall.", "destination": "the end of the road near the concrete retaining wall", "start_xy": [750, 700], "ang_err_namer_deg": 1.0287735724364653, "ang_err_cycle_deg": 0.6320628532630627, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4b65adf4_seg1", "clip": "4b65adf4-4509-5cb3-98cb-88da3a4aa006", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the intersection with the blue road signs.", "destination": "the intersection with the blue road signs", "start_xy": [585, 520], "ang_err_namer_deg": 0.1689763586015455, "ang_err_cycle_deg": 1.269605962572986, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "4b65adf4_seg2", "clip": "4b65adf4-4509-5cb3-98cb-88da3a4aa006", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4b/4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0.json b/labels/outdoor/4b/4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0.json
index 4b83837b9e512006a903c8ef32dbf193a3c682a6..82345d849a843e68c7a4ca69719bb488dae7c57f 100644
--- a/labels/outdoor/4b/4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0.json
+++ b/labels/outdoor/4b/4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the marked utility pole.", "destination": "the marked utility pole", "start_xy": [516, 526], "ang_err_namer_deg": 5.98962379613825, "ang_err_cycle_deg": 2.1986022469436257, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "4bbbc9e0_seg0", "clip": "4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow track signal.", "destination": "the yellow track signal", "start_xy": [451, 526], "ang_err_namer_deg": 5.161896837293702, "ang_err_cycle_deg": 5.2347462353363525, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "4bbbc9e0_seg1", "clip": "4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the utility pole near the tracks.", "destination": "the utility pole", "start_xy": [581, 420], "ang_err_namer_deg": 13.228152789677585, "ang_err_cycle_deg": 14.95899719266574, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "4bbbc9e0_seg2", "clip": "4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the marked utility pole.", "destination": "the marked utility pole", "start_xy": [516, 526], "ang_err_namer_deg": 5.98962379613825, "ang_err_cycle_deg": 2.1986022469436257, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "4bbbc9e0_seg0", "clip": "4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the utility pole near the tracks.", "destination": "the utility pole", "start_xy": [581, 420], "ang_err_namer_deg": 13.228152789677585, "ang_err_cycle_deg": 14.95899719266574, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "4bbbc9e0_seg2", "clip": "4bbbc9e0-fa1e-5abe-a7ba-046f7cf60dc0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4e/4eb608b1-1f4e-5218-ad5f-20b2425cb33e.json b/labels/outdoor/4e/4eb608b1-1f4e-5218-ad5f-20b2425cb33e.json
index 134f5c46054faf27609d1329524ed0380dbe82c6..403714dd40c19b453c5cb852e6f9ec736036e22b 100644
--- a/labels/outdoor/4e/4eb608b1-1f4e-5218-ad5f-20b2425cb33e.json
+++ b/labels/outdoor/4e/4eb608b1-1f4e-5218-ad5f-20b2425cb33e.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [612, 605], "ang_err_namer_deg": 2.7057623299033455, "ang_err_cycle_deg": 2.7057623299033455, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4eb608b1_seg0", "clip": "4eb608b1-1f4e-5218-ad5f-20b2425cb33e", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area with the yellow road sign.", "destination": "the area with the yellow road sign", "start_xy": [420, 622], "ang_err_namer_deg": 3.7312437802430676, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4eb608b1_seg1", "clip": "4eb608b1-1f4e-5218-ad5f-20b2425cb33e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [612, 605], "ang_err_namer_deg": 2.7057623299033455, "ang_err_cycle_deg": 2.7057623299033455, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4eb608b1_seg0", "clip": "4eb608b1-1f4e-5218-ad5f-20b2425cb33e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4e/4ef9a846-bb40-5108-8c02-08a72dc552c1.json b/labels/outdoor/4e/4ef9a846-bb40-5108-8c02-08a72dc552c1.json
index 4ba8e6be0045dfb7f7666fcdbb7eeaf210eac380..8d1a3760ef82cc4eeda550d4eefd1cabd976ad79 100644
--- a/labels/outdoor/4e/4ef9a846-bb40-5108-8c02-08a72dc552c1.json
+++ b/labels/outdoor/4e/4ef9a846-bb40-5108-8c02-08a72dc552c1.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area of the road curve.", "destination": "the curve of the road", "start_xy": [453, 571], "ang_err_namer_deg": 4.420880406952921, "ang_err_cycle_deg": 0.5060818337458636, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "4ef9a846_seg0", "clip": "4ef9a846-bb40-5108-8c02-08a72dc552c1", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the roadside sign.", "destination": "roadside sign", "start_xy": [763, 526], "ang_err_namer_deg": 7.070585527929502, "ang_err_cycle_deg": 6.925517461920418, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "4ef9a846_seg1", "clip": "4ef9a846-bb40-5108-8c02-08a72dc552c1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the roadside sign.", "destination": "roadside sign", "start_xy": [763, 526], "ang_err_namer_deg": 7.070585527929502, "ang_err_cycle_deg": 6.925517461920418, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "4ef9a846_seg1", "clip": "4ef9a846-bb40-5108-8c02-08a72dc552c1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/4f/4f7df5d6-bc45-54b6-b25a-5034a5281e48.json b/labels/outdoor/4f/4f7df5d6-bc45-54b6-b25a-5034a5281e48.json
index 18679301e935832d9bba59d6b8d127a72d92e998..38e13bc5e599d4e8f357f04ecb9db17cd4f9b60a 100644
--- a/labels/outdoor/4f/4f7df5d6-bc45-54b6-b25a-5034a5281e48.json
+++ b/labels/outdoor/4f/4f7df5d6-bc45-54b6-b25a-5034a5281e48.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow sign by the railroad tracks.", "destination": "the yellow sign", "start_xy": [257, 506], "ang_err_namer_deg": 3.358082233419136, "ang_err_cycle_deg": 3.3128904693817023, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "4f7df5d6_seg0", "clip": "4f7df5d6-bc45-54b6-b25a-5034a5281e48", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the yellow sign with '20' on it.", "destination": "the yellow sign with '20' on it", "start_xy": [472, 515], "ang_err_namer_deg": 5.123857786669024, "ang_err_cycle_deg": 5.170828272390597, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4f7df5d6_seg1", "clip": "4f7df5d6-bc45-54b6-b25a-5034a5281e48", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the yellow sign with '20' on it.", "destination": "the yellow sign with '20' on it", "start_xy": [472, 515], "ang_err_namer_deg": 5.123857786669024, "ang_err_cycle_deg": 5.170828272390597, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "4f7df5d6_seg1", "clip": "4f7df5d6-bc45-54b6-b25a-5034a5281e48", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/50/50a03f9a-f9a5-58b7-a3bc-732912337ba9.json b/labels/outdoor/50/50a03f9a-f9a5-58b7-a3bc-732912337ba9.json
index edc24ae7f015e7f63ba80529502d33b25a511a38..0ffd0052df415ec96cc3a4df6fb145701f633026 100644
--- a/labels/outdoor/50/50a03f9a-f9a5-58b7-a3bc-732912337ba9.json
+++ b/labels/outdoor/50/50a03f9a-f9a5-58b7-a3bc-732912337ba9.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall along the road", "start_xy": [551, 551], "ang_err_namer_deg": 3.2446257551041753, "ang_err_cycle_deg": 4.406418248719898, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "50a03f9a_seg0", "clip": "50a03f9a-f9a5-58b7-a3bc-732912337ba9", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the red archway.", "destination": "the red archway", "start_xy": [332, 465], "ang_err_namer_deg": 0.9605994298057959, "ang_err_cycle_deg": 0.8764084907834107, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "50a03f9a_seg1", "clip": "50a03f9a-f9a5-58b7-a3bc-732912337ba9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the red archway.", "destination": "the red archway", "start_xy": [332, 465], "ang_err_namer_deg": 0.9605994298057959, "ang_err_cycle_deg": 0.8764084907834107, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "50a03f9a_seg1", "clip": "50a03f9a-f9a5-58b7-a3bc-732912337ba9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/50/50c5a0cb-306d-50e0-89ca-846b8e43e369.json b/labels/outdoor/50/50c5a0cb-306d-50e0-89ca-846b8e43e369.json
index 9f124c8d4b0126a2a4f140d12f40e354344ad8a9..6e58f12d4eca437735b16cc9082a3842379af56d 100644
--- a/labels/outdoor/50/50c5a0cb-306d-50e0-89ca-846b8e43e369.json
+++ b/labels/outdoor/50/50c5a0cb-306d-50e0-89ca-846b8e43e369.json
@@ -1 +1 @@
-[{"t0": 64, "t_end": 74, "instruction": "Go to the area by the flowering trees.", "destination": "the area by the flowering trees", "start_xy": [280, 505], "ang_err_namer_deg": 5.878894075473027, "ang_err_cycle_deg": 5.5042521108889275, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "50c5a0cb_seg0", "clip": "50c5a0cb-306d-50e0-89ca-846b8e43e369", "source": "spatialvid_v3"}, {"t0": 45, "t_end": 62, "instruction": "Go to the green dumpsters.", "destination": "the green dumpsters", "start_xy": [217, 605], "ang_err_namer_deg": 9.432162748016317, "ang_err_cycle_deg": 9.51720043591458, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "50c5a0cb_seg1", "clip": "50c5a0cb-306d-50e0-89ca-846b8e43e369", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 43, "instruction": "Go to the area by the building with the flag.", "destination": "the building with the flag", "start_xy": [444, 427], "ang_err_namer_deg": 10.435805687222121, "ang_err_cycle_deg": 4.9592147611626665, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "50c5a0cb_seg2", "clip": "50c5a0cb-306d-50e0-89ca-846b8e43e369", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 45, "t_end": 62, "instruction": "Go to the green dumpsters.", "destination": "the green dumpsters", "start_xy": [217, 605], "ang_err_namer_deg": 9.432162748016317, "ang_err_cycle_deg": 9.51720043591458, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "50c5a0cb_seg1", "clip": "50c5a0cb-306d-50e0-89ca-846b8e43e369", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 43, "instruction": "Go to the area by the building with the flag.", "destination": "the building with the flag", "start_xy": [444, 427], "ang_err_namer_deg": 10.435805687222121, "ang_err_cycle_deg": 4.9592147611626665, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "50c5a0cb_seg2", "clip": "50c5a0cb-306d-50e0-89ca-846b8e43e369", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/51/51108efe-e7f8-56b5-bdba-6a3bba5d4c81.json b/labels/outdoor/51/51108efe-e7f8-56b5-bdba-6a3bba5d4c81.json
index e1508f00a3c3ca293a3793af662c296aaf6b1bc6..8f89c598a8e2110d65deb5fb2b8e1b0878d09f5c 100644
--- a/labels/outdoor/51/51108efe-e7f8-56b5-bdba-6a3bba5d4c81.json
+++ b/labels/outdoor/51/51108efe-e7f8-56b5-bdba-6a3bba5d4c81.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the buildings in the distance.", "destination": "the buildings in the distance", "start_xy": [745, 605], "ang_err_namer_deg": 3.3025609298110843, "ang_err_cycle_deg": 11.193844635617172, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "51108efe_seg0", "clip": "51108efe-e7f8-56b5-bdba-6a3bba5d4c81", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the blue sign on the stone wall.", "destination": "the blue sign on the stone wall", "start_xy": [472, 634], "ang_err_namer_deg": 7.768678086118144, "ang_err_cycle_deg": 7.999436127289639, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "51108efe_seg1", "clip": "51108efe-e7f8-56b5-bdba-6a3bba5d4c81", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 21, "instruction": "Go to the red sign along the road.", "destination": "the red sign", "start_xy": [198, 551], "ang_err_namer_deg": 1.9270797169579612, "ang_err_cycle_deg": 1.9270797169579612, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "51108efe_seg2", "clip": "51108efe-e7f8-56b5-bdba-6a3bba5d4c81", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the blue sign on the stone wall.", "destination": "the blue sign on the stone wall", "start_xy": [472, 634], "ang_err_namer_deg": 7.768678086118144, "ang_err_cycle_deg": 7.999436127289639, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "51108efe_seg1", "clip": "51108efe-e7f8-56b5-bdba-6a3bba5d4c81", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 21, "instruction": "Go to the red sign along the road.", "destination": "the red sign", "start_xy": [198, 551], "ang_err_namer_deg": 1.9270797169579612, "ang_err_cycle_deg": 1.9270797169579612, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "51108efe_seg2", "clip": "51108efe-e7f8-56b5-bdba-6a3bba5d4c81", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/51/516f211e-94d7-5500-b331-21716fd5e5f1.json b/labels/outdoor/51/516f211e-94d7-5500-b331-21716fd5e5f1.json
index ada122a429e5fa8daa54038fc12ed0b29e2cdc7a..b9ffa0cb806233941b069eb683b7fdb6470c1ccf 100644
--- a/labels/outdoor/51/516f211e-94d7-5500-b331-21716fd5e5f1.json
+++ b/labels/outdoor/51/516f211e-94d7-5500-b331-21716fd5e5f1.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area behind the mail truck near the beach.", "destination": "the area behind the mail truck", "start_xy": [548, 622], "ang_err_namer_deg": 1.0968273956769716, "ang_err_cycle_deg": 1.387625092232785, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "516f211e_seg0", "clip": "516f211e-94d7-5500-b331-21716fd5e5f1", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the end of the street near the beach.", "destination": "the end of the street near the beach", "start_xy": [498, 574], "ang_err_namer_deg": 0.24352919426024702, "ang_err_cycle_deg": 1.3171674149934223, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "516f211e_seg1", "clip": "516f211e-94d7-5500-b331-21716fd5e5f1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the end of the street near the beach.", "destination": "the end of the street near the beach", "start_xy": [498, 574], "ang_err_namer_deg": 0.24352919426024702, "ang_err_cycle_deg": 1.3171674149934223, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "516f211e_seg1", "clip": "516f211e-94d7-5500-b331-21716fd5e5f1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/51/51ce7103-8f41-56ed-a251-6ed14e1b1f5f.json b/labels/outdoor/51/51ce7103-8f41-56ed-a251-6ed14e1b1f5f.json
index 51a7171c35b2c2fb253203df1f0172537f30cc9b..eb9503e34938ab268ca88a61e629a981f6d10e77 100644
--- a/labels/outdoor/51/51ce7103-8f41-56ed-a251-6ed14e1b1f5f.json
+++ b/labels/outdoor/51/51ce7103-8f41-56ed-a251-6ed14e1b1f5f.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 74, "instruction": "Go to the motorcycle parked by the cliffside.", "destination": "motorcycle", "start_xy": [196, 643], "ang_err_namer_deg": 6.217019019318757, "ang_err_cycle_deg": 4.9217891025625065, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "51ce7103_seg0", "clip": "51ce7103-8f41-56ed-a251-6ed14e1b1f5f", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 47, "instruction": "Go to the green trash bin by the roadside.", "destination": "the green trash bin", "start_xy": [420, 676], "ang_err_namer_deg": 0.9537100614546128, "ang_err_cycle_deg": 0.8833303341181704, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "51ce7103_seg1", "clip": "51ce7103-8f41-56ed-a251-6ed14e1b1f5f", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the road sign on the bridge.", "destination": "the road sign on the bridge", "start_xy": [454, 605], "ang_err_namer_deg": 3.7091036734667426, "ang_err_cycle_deg": 3.4256922367134606, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "51ce7103_seg2", "clip": "51ce7103-8f41-56ed-a251-6ed14e1b1f5f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 49, "t_end": 74, "instruction": "Go to the motorcycle parked by the cliffside.", "destination": "motorcycle", "start_xy": [196, 643], "ang_err_namer_deg": 6.217019019318757, "ang_err_cycle_deg": 4.9217891025625065, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "51ce7103_seg0", "clip": "51ce7103-8f41-56ed-a251-6ed14e1b1f5f", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 47, "instruction": "Go to the green trash bin by the roadside.", "destination": "the green trash bin", "start_xy": [420, 676], "ang_err_namer_deg": 0.9537100614546128, "ang_err_cycle_deg": 0.8833303341181704, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "51ce7103_seg1", "clip": "51ce7103-8f41-56ed-a251-6ed14e1b1f5f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/52/52be9eb3-0de7-5882-9371-1c67049c9dc6.json b/labels/outdoor/52/52be9eb3-0de7-5882-9371-1c67049c9dc6.json
index 469861e0a2a0c299864eb77eaef4d0bfc87bd030..6830cf58d74f2e2b24f28085647ab87239627677 100644
--- a/labels/outdoor/52/52be9eb3-0de7-5882-9371-1c67049c9dc6.json
+++ b/labels/outdoor/52/52be9eb3-0de7-5882-9371-1c67049c9dc6.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the small metal platforms by the tracks.", "destination": "the small metal platforms by the tracks", "start_xy": [491, 550], "ang_err_namer_deg": 1.0020703769585602, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "52be9eb3_seg0", "clip": "52be9eb3-0de7-5882-9371-1c67049c9dc6", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the post beside the tracks.", "destination": "the post beside the tracks", "start_xy": [451, 406], "ang_err_namer_deg": 4.172160609477129, "ang_err_cycle_deg": 4.272748656736069, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "52be9eb3_seg1", "clip": "52be9eb3-0de7-5882-9371-1c67049c9dc6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 34, "instruction": "Go to the post beside the tracks.", "destination": "the post beside the tracks", "start_xy": [451, 406], "ang_err_namer_deg": 4.172160609477129, "ang_err_cycle_deg": 4.272748656736069, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "52be9eb3_seg1", "clip": "52be9eb3-0de7-5882-9371-1c67049c9dc6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/53/53f75a37-589a-5c8c-b06e-ea0a1e01b0a6.json b/labels/outdoor/53/53f75a37-589a-5c8c-b06e-ea0a1e01b0a6.json
index 1f422de2031bf0b7ef1cf474ba2001ef3e936283..56e149391a1772bfc2902f7c6c09b037bdfbe285 100644
--- a/labels/outdoor/53/53f75a37-589a-5c8c-b06e-ea0a1e01b0a6.json
+++ b/labels/outdoor/53/53f75a37-589a-5c8c-b06e-ea0a1e01b0a6.json
@@ -1 +1 @@
-[{"t0": 31, "t_end": 63, "instruction": "Go to the rock wall along the road.", "destination": "the rock wall", "start_xy": [863, 551], "ang_err_namer_deg": 5.425503316059938, "ang_err_cycle_deg": 0.22368755409404684, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "53f75a37_seg0", "clip": "53f75a37-589a-5c8c-b06e-ea0a1e01b0a6", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 29, "instruction": "Go to the parking area with trucks.", "destination": "the parking area with trucks", "start_xy": [541, 565], "ang_err_namer_deg": 7.235781008132223, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "53f75a37_seg1", "clip": "53f75a37-589a-5c8c-b06e-ea0a1e01b0a6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 31, "t_end": 63, "instruction": "Go to the rock wall along the road.", "destination": "the rock wall", "start_xy": [863, 551], "ang_err_namer_deg": 5.425503316059938, "ang_err_cycle_deg": 0.22368755409404684, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "53f75a37_seg0", "clip": "53f75a37-589a-5c8c-b06e-ea0a1e01b0a6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/55/55433041-4476-595b-897d-46f13b4bc50f.json b/labels/outdoor/55/55433041-4476-595b-897d-46f13b4bc50f.json
index a7556dbeb79f8c904a5ee2bee1874d8493e63f5d..d89314819ba8d677e240a14942a81f73be0da61f 100644
--- a/labels/outdoor/55/55433041-4476-595b-897d-46f13b4bc50f.json
+++ b/labels/outdoor/55/55433041-4476-595b-897d-46f13b4bc50f.json
@@ -1 +1 @@
-[{"t0": 37, "t_end": 54, "instruction": "Go to the tree-lined slope.", "destination": "the tree-lined slope", "start_xy": [585, 662], "ang_err_namer_deg": 1.2144770793499111, "ang_err_cycle_deg": 10.948698383822604, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "55433041_seg0", "clip": "55433041-4476-595b-897d-46f13b4bc50f", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 35, "instruction": "Go to the area with the rocky creek bed leading toward the road.", "destination": "rocky creek bed", "start_xy": [458, 743], "ang_err_namer_deg": 4.02955036851514, "ang_err_cycle_deg": 0.40107553488363745, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "55433041_seg1", "clip": "55433041-4476-595b-897d-46f13b4bc50f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the end of the rocky stream bed.", "destination": "the end of the rocky stream bed", "start_xy": [485, 745], "ang_err_namer_deg": 13.660711700669424, "ang_err_cycle_deg": 6.2576325654424965, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "55433041_seg2", "clip": "55433041-4476-595b-897d-46f13b4bc50f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 37, "t_end": 54, "instruction": "Go to the tree-lined slope.", "destination": "the tree-lined slope", "start_xy": [585, 662], "ang_err_namer_deg": 1.2144770793499111, "ang_err_cycle_deg": 10.948698383822604, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "55433041_seg0", "clip": "55433041-4476-595b-897d-46f13b4bc50f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the end of the rocky stream bed.", "destination": "the end of the rocky stream bed", "start_xy": [485, 745], "ang_err_namer_deg": 13.660711700669424, "ang_err_cycle_deg": 6.2576325654424965, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "55433041_seg2", "clip": "55433041-4476-595b-897d-46f13b4bc50f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/56/56393a44-f8ad-57c8-85ae-b3389866a4e2.json b/labels/outdoor/56/56393a44-f8ad-57c8-85ae-b3389866a4e2.json
index 7414926191226d3d8031ecaa309a09dc2f465247..1ce6e61d57996a9f63c032fff53776fc789076c4 100644
--- a/labels/outdoor/56/56393a44-f8ad-57c8-85ae-b3389866a4e2.json
+++ b/labels/outdoor/56/56393a44-f8ad-57c8-85ae-b3389866a4e2.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 74, "instruction": "Go to the yellow house.", "destination": "the yellow house", "start_xy": [194, 574], "ang_err_namer_deg": 8.953103835235238, "ang_err_cycle_deg": 8.953103835235238, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "56393a44_seg0", "clip": "56393a44-f8ad-57c8-85ae-b3389866a4e2", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 47, "instruction": "Go to the intersection by the green house.", "destination": "the intersection by the green house", "start_xy": [484, 666], "ang_err_namer_deg": 11.559646237880433, "ang_err_cycle_deg": 0.7630585953217928, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "56393a44_seg1", "clip": "56393a44-f8ad-57c8-85ae-b3389866a4e2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the railway crossing.", "destination": "the railway crossing", "start_xy": [487, 665], "ang_err_namer_deg": 5.285441431461007, "ang_err_cycle_deg": 2.6500603843681723, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "56393a44_seg2", "clip": "56393a44-f8ad-57c8-85ae-b3389866a4e2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 47, "instruction": "Go to the intersection by the green house.", "destination": "the intersection by the green house", "start_xy": [484, 666], "ang_err_namer_deg": 11.559646237880433, "ang_err_cycle_deg": 0.7630585953217928, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "56393a44_seg1", "clip": "56393a44-f8ad-57c8-85ae-b3389866a4e2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the railway crossing.", "destination": "the railway crossing", "start_xy": [487, 665], "ang_err_namer_deg": 5.285441431461007, "ang_err_cycle_deg": 2.6500603843681723, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "56393a44_seg2", "clip": "56393a44-f8ad-57c8-85ae-b3389866a4e2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/57/570b134b-8cc7-59bb-ab72-8c6942e11a1c.json b/labels/outdoor/57/570b134b-8cc7-59bb-ab72-8c6942e11a1c.json
index 54b4cf89de09a261359fbc94ca5298f4567fbd31..3bbbdc7f2cdd770c359231d902a643c641248bb3 100644
--- a/labels/outdoor/57/570b134b-8cc7-59bb-ab72-8c6942e11a1c.json
+++ b/labels/outdoor/57/570b134b-8cc7-59bb-ab72-8c6942e11a1c.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the police station.", "destination": "police station", "start_xy": [300, 550], "ang_err_namer_deg": 11.760072248664864, "ang_err_cycle_deg": 2.402334867681581, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "570b134b_seg0", "clip": "570b134b-8cc7-59bb-ab72-8c6942e11a1c", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the blue and white building.", "destination": "the blue and white building", "start_xy": [526, 583], "ang_err_namer_deg": 0.5919288105583101, "ang_err_cycle_deg": 1.0575859379229728, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "570b134b_seg1", "clip": "570b134b-8cc7-59bb-ab72-8c6942e11a1c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the police station.", "destination": "police station", "start_xy": [300, 550], "ang_err_namer_deg": 11.760072248664864, "ang_err_cycle_deg": 2.402334867681581, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "570b134b_seg0", "clip": "570b134b-8cc7-59bb-ab72-8c6942e11a1c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/57/577e602c-b601-5582-ad19-befb26d97be6.json b/labels/outdoor/57/577e602c-b601-5582-ad19-befb26d97be6.json
index 543f89e91430d901c2da762a395bc66ef605c787..e2f701546e9fbb45f6bad08259bc91f57b1f39da 100644
--- a/labels/outdoor/57/577e602c-b601-5582-ad19-befb26d97be6.json
+++ b/labels/outdoor/57/577e602c-b601-5582-ad19-befb26d97be6.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the area by the dog run entrance.", "destination": "the dog run entrance", "start_xy": [485, 795], "ang_err_namer_deg": 2.2720991059105895, "ang_err_cycle_deg": 15.407900589885973, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "577e602c_seg0", "clip": "577e602c-b601-5582-ad19-befb26d97be6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the area by the yellow bag on the ground.", "destination": "the yellow bag on the ground", "start_xy": [632, 750], "ang_err_namer_deg": 4.145716649250999, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "577e602c_seg1", "clip": "577e602c-b601-5582-ad19-befb26d97be6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 71, "instruction": "Go to the area by the dog run entrance.", "destination": "the dog run entrance", "start_xy": [485, 795], "ang_err_namer_deg": 2.2720991059105895, "ang_err_cycle_deg": 15.407900589885973, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "577e602c_seg0", "clip": "577e602c-b601-5582-ad19-befb26d97be6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/57/57f6ade3-c32d-54fe-a55a-197085a9598a.json b/labels/outdoor/57/57f6ade3-c32d-54fe-a55a-197085a9598a.json
index 01e50bb162d2030bba41a795dae7199b00116de7..0edf96ff1bfd2745c7aced4fbc7d261c3fed1509 100644
--- a/labels/outdoor/57/57f6ade3-c32d-54fe-a55a-197085a9598a.json
+++ b/labels/outdoor/57/57f6ade3-c32d-54fe-a55a-197085a9598a.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the white house with the wooden fence.", "destination": "the white house with the wooden fence", "start_xy": [759, 662], "ang_err_namer_deg": 13.973490574294592, "ang_err_cycle_deg": 7.481292015171525, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "57f6ade3_seg0", "clip": "57f6ade3-c32d-54fe-a55a-197085a9598a", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area with the houses with brown roofs.", "destination": "the houses with brown roofs", "start_xy": [451, 551], "ang_err_namer_deg": 10.190664494886631, "ang_err_cycle_deg": 20.94488806928587, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "57f6ade3_seg1", "clip": "57f6ade3-c32d-54fe-a55a-197085a9598a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the brown wooden building on the left.", "destination": "the brown wooden building on the left", "start_xy": [381, 557], "ang_err_namer_deg": 8.838082224928304, "ang_err_cycle_deg": 9.319912984664633, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "57f6ade3_seg2", "clip": "57f6ade3-c32d-54fe-a55a-197085a9598a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the area by the brown wooden building on the left.", "destination": "the brown wooden building on the left", "start_xy": [381, 557], "ang_err_namer_deg": 8.838082224928304, "ang_err_cycle_deg": 9.319912984664633, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "57f6ade3_seg2", "clip": "57f6ade3-c32d-54fe-a55a-197085a9598a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5a/5a01130e-ffe7-559d-ba97-9857d97f7ba4.json b/labels/outdoor/5a/5a01130e-ffe7-559d-ba97-9857d97f7ba4.json
index 795ee4abdb0ce2bb7f203c57eb00a96442adffcd..9bc9f161ba529172c33b901fe37d333f3e6ebcc0 100644
--- a/labels/outdoor/5a/5a01130e-ffe7-559d-ba97-9857d97f7ba4.json
+++ b/labels/outdoor/5a/5a01130e-ffe7-559d-ba97-9857d97f7ba4.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow sign along the train tracks.", "destination": "the yellow sign", "start_xy": [593, 506], "ang_err_namer_deg": 11.731620219175733, "ang_err_cycle_deg": 11.591697332986723, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5a01130e_seg0", "clip": "5a01130e-ffe7-559d-ba97-9857d97f7ba4", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the yellow sign on the right side of the tracks.", "destination": "the yellow sign", "start_xy": [586, 506], "ang_err_namer_deg": 0.058042844894994845, "ang_err_cycle_deg": 3.7414763778796654, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "5a01130e_seg1", "clip": "5a01130e-ffe7-559d-ba97-9857d97f7ba4", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area where the train tracks curve toward the mountains.", "destination": "the curved train tracks", "start_xy": [510, 750], "ang_err_namer_deg": 4.03814180934175, "ang_err_cycle_deg": 3.9672863888446, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "5a01130e_seg2", "clip": "5a01130e-ffe7-559d-ba97-9857d97f7ba4", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow sign along the train tracks.", "destination": "the yellow sign", "start_xy": [593, 506], "ang_err_namer_deg": 11.731620219175733, "ang_err_cycle_deg": 11.591697332986723, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5a01130e_seg0", "clip": "5a01130e-ffe7-559d-ba97-9857d97f7ba4", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area where the train tracks curve toward the mountains.", "destination": "the curved train tracks", "start_xy": [510, 750], "ang_err_namer_deg": 4.03814180934175, "ang_err_cycle_deg": 3.9672863888446, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "5a01130e_seg2", "clip": "5a01130e-ffe7-559d-ba97-9857d97f7ba4", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5a/5a18dae9-9abd-5297-9e58-2d11bc629e8f.json b/labels/outdoor/5a/5a18dae9-9abd-5297-9e58-2d11bc629e8f.json
index b404c1307c51f32d998ac2f2f649d52ffbbfa554..f0f5f8a3c0a86e35d680f2ef0fed34213168ea20 100644
--- a/labels/outdoor/5a/5a18dae9-9abd-5297-9e58-2d11bc629e8f.json
+++ b/labels/outdoor/5a/5a18dae9-9abd-5297-9e58-2d11bc629e8f.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [354, 482], "ang_err_namer_deg": 0.9145323511275685, "ang_err_cycle_deg": 1.113343435466216, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "5a18dae9_seg0", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area by the yellow signal.", "destination": "the area by the yellow signal", "start_xy": [482, 464], "ang_err_namer_deg": 9.045338779480884, "ang_err_cycle_deg": 8.725122233858022, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "5a18dae9_seg1", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 29, "instruction": "Go to the area of tracks on the bridge.", "destination": "the tracks on the bridge", "start_xy": [485, 747], "ang_err_namer_deg": 11.352312666599593, "ang_err_cycle_deg": 2.905797994151624, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "5a18dae9_seg2", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [381, 559], "ang_err_namer_deg": 3.885434845032183, "ang_err_cycle_deg": 4.088995230977122, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "5a18dae9_seg3", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 29, "instruction": "Go to the area of tracks on the bridge.", "destination": "the tracks on the bridge", "start_xy": [485, 747], "ang_err_namer_deg": 11.352312666599593, "ang_err_cycle_deg": 2.905797994151624, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "5a18dae9_seg2", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [381, 559], "ang_err_namer_deg": 3.885434845032183, "ang_err_cycle_deg": 4.088995230977122, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "5a18dae9_seg3", "clip": "5a18dae9-9abd-5297-9e58-2d11bc629e8f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5a/5a1a5af6-b35f-5ac2-8905-a0ff197086c3.json b/labels/outdoor/5a/5a1a5af6-b35f-5ac2-8905-a0ff197086c3.json
index c67674a53272f411cfc9b6db2e79b103a610140c..085fcbadf19bd077f775bb31aef332e9a71deed9 100644
--- a/labels/outdoor/5a/5a1a5af6-b35f-5ac2-8905-a0ff197086c3.json
+++ b/labels/outdoor/5a/5a1a5af6-b35f-5ac2-8905-a0ff197086c3.json
@@ -1 +1 @@
-[{"t0": 37, "t_end": 54, "instruction": "Go to the gate leading to the white building.", "destination": "the gate leading to the white building", "start_xy": [625, 508], "ang_err_namer_deg": 12.14358374641084, "ang_err_cycle_deg": 0.7952921325602149, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5a1a5af6_seg0", "clip": "5a1a5af6-b35f-5ac2-8905-a0ff197086c3", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 35, "instruction": "Go to the area with the white wall and building with the roof structure on the right.", "destination": "the area with the white wall and building on the right", "start_xy": [846, 482], "ang_err_namer_deg": 13.197832975088502, "ang_err_cycle_deg": 0.3250362894803643, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "5a1a5af6_seg1", "clip": "5a1a5af6-b35f-5ac2-8905-a0ff197086c3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 37, "t_end": 54, "instruction": "Go to the gate leading to the white building.", "destination": "the gate leading to the white building", "start_xy": [625, 508], "ang_err_namer_deg": 12.14358374641084, "ang_err_cycle_deg": 0.7952921325602149, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5a1a5af6_seg0", "clip": "5a1a5af6-b35f-5ac2-8905-a0ff197086c3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5a/5aa1a1a6-da07-538f-993d-83bd45ccaa09.json b/labels/outdoor/5a/5aa1a1a6-da07-538f-993d-83bd45ccaa09.json
index 0dfef058f4f539bf066ceae9cb5b00c25946c986..92f6981d21d4ef844375b65d199fda7cb9a5756c 100644
--- a/labels/outdoor/5a/5aa1a1a6-da07-538f-993d-83bd45ccaa09.json
+++ b/labels/outdoor/5a/5aa1a1a6-da07-538f-993d-83bd45ccaa09.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the large rock by the side of the path.", "destination": "large rock", "start_xy": [587, 612], "ang_err_namer_deg": 5.595918132266553, "ang_err_cycle_deg": 5.595918132266553, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "5aa1a1a6_seg0", "clip": "5aa1a1a6-da07-538f-993d-83bd45ccaa09", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area of the trail where it passes between the tall bushes.", "destination": "the area between the tall bushes", "start_xy": [487, 745], "ang_err_namer_deg": 2.000714030265566, "ang_err_cycle_deg": 2.5199701719147587, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5aa1a1a6_seg1", "clip": "5aa1a1a6-da07-538f-993d-83bd45ccaa09", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area with the large rocks.", "destination": "the area with the large rocks", "start_xy": [627, 579], "ang_err_namer_deg": 5.300873655499298, "ang_err_cycle_deg": 5.062295662157375, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "5aa1a1a6_seg2", "clip": "5aa1a1a6-da07-538f-993d-83bd45ccaa09", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the area of the trail where it passes between the tall bushes.", "destination": "the area between the tall bushes", "start_xy": [487, 745], "ang_err_namer_deg": 2.000714030265566, "ang_err_cycle_deg": 2.5199701719147587, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5aa1a1a6_seg1", "clip": "5aa1a1a6-da07-538f-993d-83bd45ccaa09", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5b/5b480f69-2916-5bc8-8ec5-10cc6d294ae9.json b/labels/outdoor/5b/5b480f69-2916-5bc8-8ec5-10cc6d294ae9.json
index baf39f664954bb94037a02edc09ebfe30ef136b8..13ab44f96f7880092b5f84bc02fbaef2b188fb78 100644
--- a/labels/outdoor/5b/5b480f69-2916-5bc8-8ec5-10cc6d294ae9.json
+++ b/labels/outdoor/5b/5b480f69-2916-5bc8-8ec5-10cc6d294ae9.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the area by the road sign.", "destination": "the area by the road sign", "start_xy": [535, 308], "ang_err_namer_deg": 6.386248549278189, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "5b480f69_seg0", "clip": "5b480f69-2916-5bc8-8ec5-10cc6d294ae9", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the sign by the side of the road.", "destination": "the sign by the side of the road", "start_xy": [458, 622], "ang_err_namer_deg": 7.326083265183933, "ang_err_cycle_deg": 7.326083265183933, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "5b480f69_seg1", "clip": "5b480f69-2916-5bc8-8ec5-10cc6d294ae9", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 29, "instruction": "Go to the ramp railing.", "destination": "the ramp railing", "start_xy": [483, 574], "ang_err_namer_deg": 5.192294671640498, "ang_err_cycle_deg": 5.099037488190327, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692333333333335, "tier": "S", "id": "5b480f69_seg2", "clip": "5b480f69-2916-5bc8-8ec5-10cc6d294ae9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 31, "t_end": 50, "instruction": "Go to the sign by the side of the road.", "destination": "the sign by the side of the road", "start_xy": [458, 622], "ang_err_namer_deg": 7.326083265183933, "ang_err_cycle_deg": 7.326083265183933, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "5b480f69_seg1", "clip": "5b480f69-2916-5bc8-8ec5-10cc6d294ae9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5b/5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a.json b/labels/outdoor/5b/5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a.json
index e7e93fb93e7177d890c600ce66de3c564981fbcd..dd6f0b5cc4b919aaaa4839005af5a272d8e227eb 100644
--- a/labels/outdoor/5b/5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a.json
+++ b/labels/outdoor/5b/5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the house on the left.", "destination": "the house on the left", "start_xy": [361, 519], "ang_err_namer_deg": 10.836441623618828, "ang_err_cycle_deg": 10.836441623618828, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "5bcabcde_seg0", "clip": "5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [489, 795], "ang_err_namer_deg": 2.5784781623130546, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "5bcabcde_seg1", "clip": "5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the building with the flag.", "destination": "building with the flag", "start_xy": [574, 453], "ang_err_namer_deg": 6.166783045674594, "ang_err_cycle_deg": 2.2456855943471945, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "5bcabcde_seg2", "clip": "5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the area by the building with the flag.", "destination": "building with the flag", "start_xy": [574, 453], "ang_err_namer_deg": 6.166783045674594, "ang_err_cycle_deg": 2.2456855943471945, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "5bcabcde_seg2", "clip": "5bcabcde-bcbd-5f9d-ba75-c935bfa0db3a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5b/5be4f3b3-d2a9-5a22-9da6-9c31331f154f.json b/labels/outdoor/5b/5be4f3b3-d2a9-5a22-9da6-9c31331f154f.json
index b6a06ca1a39eb8dc446524fd0f2b7699b81a8ff2..710bd13b1932ef1ec611ea66369cf273f16f6ebb 100644
--- a/labels/outdoor/5b/5be4f3b3-d2a9-5a22-9da6-9c31331f154f.json
+++ b/labels/outdoor/5b/5be4f3b3-d2a9-5a22-9da6-9c31331f154f.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [196, 666], "ang_err_namer_deg": 5.573658308644104, "ang_err_cycle_deg": 1.083627512212158, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "5be4f3b3_seg0", "clip": "5be4f3b3-d2a9-5a22-9da6-9c31331f154f", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [333, 550], "ang_err_namer_deg": 11.530786407833778, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "5be4f3b3_seg1", "clip": "5be4f3b3-d2a9-5a22-9da6-9c31331f154f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the traffic mirror on the utility pole.", "destination": "traffic mirror", "start_xy": [612, 614], "ang_err_namer_deg": 6.175294325073715, "ang_err_cycle_deg": 6.2475505400663796, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "5be4f3b3_seg2", "clip": "5be4f3b3-d2a9-5a22-9da6-9c31331f154f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [196, 666], "ang_err_namer_deg": 5.573658308644104, "ang_err_cycle_deg": 1.083627512212158, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "5be4f3b3_seg0", "clip": "5be4f3b3-d2a9-5a22-9da6-9c31331f154f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the traffic mirror on the utility pole.", "destination": "traffic mirror", "start_xy": [612, 614], "ang_err_namer_deg": 6.175294325073715, "ang_err_cycle_deg": 6.2475505400663796, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "5be4f3b3_seg2", "clip": "5be4f3b3-d2a9-5a22-9da6-9c31331f154f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5b/5bfe6773-aae6-5691-947a-1c2bf276e835.json b/labels/outdoor/5b/5bfe6773-aae6-5691-947a-1c2bf276e835.json
index 9c7a28dfc8da2ea0d74cd753eb452cd1d03fa6d1..4f8ddfcfac9eae78db4ca28a97ef4c3c327d3294 100644
--- a/labels/outdoor/5b/5bfe6773-aae6-5691-947a-1c2bf276e835.json
+++ b/labels/outdoor/5b/5bfe6773-aae6-5691-947a-1c2bf276e835.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [307, 794], "ang_err_namer_deg": 7.68780428628691, "ang_err_cycle_deg": 7.067419625649682, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5bfe6773_seg0", "clip": "5bfe6773-aae6-5691-947a-1c2bf276e835", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 40, "instruction": "Go to the area of the road curve.", "destination": "the area of the road curve", "start_xy": [861, 557], "ang_err_namer_deg": 3.3812225691876194, "ang_err_cycle_deg": 3.2855353105329725, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "5bfe6773_seg1", "clip": "5bfe6773-aae6-5691-947a-1c2bf276e835", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [307, 794], "ang_err_namer_deg": 7.68780428628691, "ang_err_cycle_deg": 7.067419625649682, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5bfe6773_seg0", "clip": "5bfe6773-aae6-5691-947a-1c2bf276e835", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5c/5c87012d-5292-572e-9053-4407cd7019e4.json b/labels/outdoor/5c/5c87012d-5292-572e-9053-4407cd7019e4.json
index a1c09facc39140c9d29b7b4d4afb1286b68c2d5b..8eb9f0d06ea2348148d7b2d9a88331691e894031 100644
--- a/labels/outdoor/5c/5c87012d-5292-572e-9053-4407cd7019e4.json
+++ b/labels/outdoor/5c/5c87012d-5292-572e-9053-4407cd7019e4.json
@@ -1 +1 @@
-[{"t0": 38, "t_end": 70, "instruction": "Go to the crosswalk near the large trees.", "destination": "the crosswalk", "start_xy": [750, 750], "ang_err_namer_deg": 4.815776379902065, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5c87012d_seg0", "clip": "5c87012d-5292-572e-9053-4407cd7019e4", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [583, 706], "ang_err_namer_deg": 4.1635162317619905, "ang_err_cycle_deg": 8.202946715822822, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "5c87012d_seg1", "clip": "5c87012d-5292-572e-9053-4407cd7019e4", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 26, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [583, 706], "ang_err_namer_deg": 4.1635162317619905, "ang_err_cycle_deg": 8.202946715822822, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "5c87012d_seg1", "clip": "5c87012d-5292-572e-9053-4407cd7019e4", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5d/5d5df0bd-6d02-575c-9ce6-0221fb6eda6c.json b/labels/outdoor/5d/5d5df0bd-6d02-575c-9ce6-0221fb6eda6c.json
index 420d3ecd4c12edd665df4f3bd20fb5841dc18fe8..bb0a317cc06c8446ff5d2e6350873b2ccb81fdf4 100644
--- a/labels/outdoor/5d/5d5df0bd-6d02-575c-9ce6-0221fb6eda6c.json
+++ b/labels/outdoor/5d/5d5df0bd-6d02-575c-9ce6-0221fb6eda6c.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the large rock formation on the left side of the path.", "destination": "the large rock formation on the left", "start_xy": [461, 703], "ang_err_namer_deg": 5.0889595369157625, "ang_err_cycle_deg": 21.455043738415423, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "5d5df0bd_seg0", "clip": "5d5df0bd-6d02-575c-9ce6-0221fb6eda6c", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with the bushes in the center of the canyon.", "destination": "the area with the bushes in the center of the canyon", "start_xy": [524, 662], "ang_err_namer_deg": 1.7108379999939052, "ang_err_cycle_deg": 3.3733434990585756, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "5d5df0bd_seg1", "clip": "5d5df0bd-6d02-575c-9ce6-0221fb6eda6c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the canyon passage.", "destination": "the canyon passage", "start_xy": [394, 680], "ang_err_namer_deg": 3.4505615034283976, "ang_err_cycle_deg": 3.513626858246046, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "5d5df0bd_seg2", "clip": "5d5df0bd-6d02-575c-9ce6-0221fb6eda6c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the area with the bushes in the center of the canyon.", "destination": "the area with the bushes in the center of the canyon", "start_xy": [524, 662], "ang_err_namer_deg": 1.7108379999939052, "ang_err_cycle_deg": 3.3733434990585756, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "5d5df0bd_seg1", "clip": "5d5df0bd-6d02-575c-9ce6-0221fb6eda6c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the canyon passage.", "destination": "the canyon passage", "start_xy": [394, 680], "ang_err_namer_deg": 3.4505615034283976, "ang_err_cycle_deg": 3.513626858246046, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "5d5df0bd_seg2", "clip": "5d5df0bd-6d02-575c-9ce6-0221fb6eda6c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5e/5e21421c-1730-5226-bab0-453ca2968a44.json b/labels/outdoor/5e/5e21421c-1730-5226-bab0-453ca2968a44.json
index 930bfd4bf3dfb2a900c19fefaa152ebf98ccf20f..fe428dfad7e60b35c4af38ba3a285443b8651bc5 100644
--- a/labels/outdoor/5e/5e21421c-1730-5226-bab0-453ca2968a44.json
+++ b/labels/outdoor/5e/5e21421c-1730-5226-bab0-453ca2968a44.json
@@ -1 +1 @@
-[{"t0": 41, "t_end": 73, "instruction": "Go to the tunnel entrance.", "destination": "tunnel entrance", "start_xy": [361, 462], "ang_err_namer_deg": 2.3469958771576245, "ang_err_cycle_deg": 0.4069601269017216, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5e21421c_seg0", "clip": "5e21421c-1730-5226-bab0-453ca2968a44", "source": "spatialvid_v3"}, {"t0": 22, "t_end": 39, "instruction": "Go to the small shed near the train tracks.", "destination": "the small shed", "start_xy": [395, 485], "ang_err_namer_deg": 1.5606307165114892, "ang_err_cycle_deg": 2.610492873848989, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "5e21421c_seg1", "clip": "5e21421c-1730-5226-bab0-453ca2968a44", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the area just outside the tunnel entrance.", "destination": "the area just outside the tunnel entrance", "start_xy": [487, 483], "ang_err_namer_deg": 1.6047552115925734, "ang_err_cycle_deg": 0.8707955526682827, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5e21421c_seg2", "clip": "5e21421c-1730-5226-bab0-453ca2968a44", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 41, "t_end": 73, "instruction": "Go to the tunnel entrance.", "destination": "tunnel entrance", "start_xy": [361, 462], "ang_err_namer_deg": 2.3469958771576245, "ang_err_cycle_deg": 0.4069601269017216, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "5e21421c_seg0", "clip": "5e21421c-1730-5226-bab0-453ca2968a44", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the area just outside the tunnel entrance.", "destination": "the area just outside the tunnel entrance", "start_xy": [487, 483], "ang_err_namer_deg": 1.6047552115925734, "ang_err_cycle_deg": 0.8707955526682827, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5e21421c_seg2", "clip": "5e21421c-1730-5226-bab0-453ca2968a44", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/5f/5f684550-8905-5f36-8844-dcf015c59fa9.json b/labels/outdoor/5f/5f684550-8905-5f36-8844-dcf015c59fa9.json
index a1d6ebecc78d9e8fa1b9ede5de8130129a2e5288..7b1348c5461d2bbf7042eedbee27bd46e19186c2 100644
--- a/labels/outdoor/5f/5f684550-8905-5f36-8844-dcf015c59fa9.json
+++ b/labels/outdoor/5f/5f684550-8905-5f36-8844-dcf015c59fa9.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the white house.", "destination": "the white house", "start_xy": [648, 582], "ang_err_namer_deg": 6.689407373484341, "ang_err_cycle_deg": 4.814134946078442, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "5f684550_seg0", "clip": "5f684550-8905-5f36-8844-dcf015c59fa9", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the bus shelter.", "destination": "bus shelter", "start_xy": [625, 698], "ang_err_namer_deg": 9.962977630509307, "ang_err_cycle_deg": 9.733595546232415, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5f684550_seg1", "clip": "5f684550-8905-5f36-8844-dcf015c59fa9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 55, "instruction": "Go to the bus shelter.", "destination": "bus shelter", "start_xy": [625, 698], "ang_err_namer_deg": 9.962977630509307, "ang_err_cycle_deg": 9.733595546232415, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "5f684550_seg1", "clip": "5f684550-8905-5f36-8844-dcf015c59fa9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/60/600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b.json b/labels/outdoor/60/600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b.json
index 6fa76772badde5cc7fcb878713757aad3bb89aa7..f101d911ae31752a54fdbdcfd20c5a55fd6ffedf 100644
--- a/labels/outdoor/60/600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b.json
+++ b/labels/outdoor/60/600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the railway utility pole.", "destination": "railway utility pole", "start_xy": [583, 551], "ang_err_namer_deg": 10.404513493287263, "ang_err_cycle_deg": 10.080236921762392, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "600d4cd9_seg0", "clip": "600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the utility pole on the right.", "destination": "the utility pole on the right", "start_xy": [605, 456], "ang_err_namer_deg": 7.210905920568571, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "600d4cd9_seg1", "clip": "600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the railway sign.", "destination": "railway sign", "start_xy": [498, 508], "ang_err_namer_deg": 5.32886538429587, "ang_err_cycle_deg": 3.768042690019997, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "600d4cd9_seg2", "clip": "600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the railway utility pole.", "destination": "railway utility pole", "start_xy": [583, 551], "ang_err_namer_deg": 10.404513493287263, "ang_err_cycle_deg": 10.080236921762392, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "600d4cd9_seg0", "clip": "600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the railway sign.", "destination": "railway sign", "start_xy": [498, 508], "ang_err_namer_deg": 5.32886538429587, "ang_err_cycle_deg": 3.768042690019997, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "600d4cd9_seg2", "clip": "600d4cd9-52a6-5947-b4b2-ebf9d6a31e3b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/61/611c7377-2e4a-575f-b082-389c645e31c9.json b/labels/outdoor/61/611c7377-2e4a-575f-b082-389c645e31c9.json
index 619bf300558fb8a8b9f296defffa6088851c1c64..6d72240d26585c06ccc873610e10cca21823f06d 100644
--- a/labels/outdoor/61/611c7377-2e4a-575f-b082-389c645e31c9.json
+++ b/labels/outdoor/61/611c7377-2e4a-575f-b082-389c645e31c9.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [375, 484], "ang_err_namer_deg": 0.9825585724960463, "ang_err_cycle_deg": 0.9012324600352176, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "611c7377_seg0", "clip": "611c7377-2e4a-575f-b082-389c645e31c9", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the overhead signal mast.", "destination": "the overhead signal mast", "start_xy": [585, 427], "ang_err_namer_deg": 8.743159455245209, "ang_err_cycle_deg": 8.577596701023557, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "611c7377_seg1", "clip": "611c7377-2e4a-575f-b082-389c645e31c9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 14, "instruction": "Go to the overhead signal mast.", "destination": "the overhead signal mast", "start_xy": [585, 427], "ang_err_namer_deg": 8.743159455245209, "ang_err_cycle_deg": 8.577596701023557, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "611c7377_seg1", "clip": "611c7377-2e4a-575f-b082-389c645e31c9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/61/612fca8d-534e-5d45-b1b9-1207e9a0c75c.json b/labels/outdoor/61/612fca8d-534e-5d45-b1b9-1207e9a0c75c.json
index ff0c82e24918848cd89c872a3d00ff781799ba52..479994ea28dbaf045c902155e25492fa84f08c5c 100644
--- a/labels/outdoor/61/612fca8d-534e-5d45-b1b9-1207e9a0c75c.json
+++ b/labels/outdoor/61/612fca8d-534e-5d45-b1b9-1207e9a0c75c.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area behind the dark car.", "destination": "the dark car", "start_xy": [393, 609], "ang_err_namer_deg": 0.6107910917800162, "ang_err_cycle_deg": 0.6107910917800162, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "612fca8d_seg0", "clip": "612fca8d-534e-5d45-b1b9-1207e9a0c75c", "source": "spatialvid_v3"}, {"t0": 22, "t_end": 38, "instruction": "Go to the tree stump by the guardrail.", "destination": "tree stump by the guardrail", "start_xy": [218, 483], "ang_err_namer_deg": 9.901070144226399, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "612fca8d_seg1", "clip": "612fca8d-534e-5d45-b1b9-1207e9a0c75c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 20, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [226, 384], "ang_err_namer_deg": 8.493517771723, "ang_err_cycle_deg": 1.4300572414064059, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "612fca8d_seg2", "clip": "612fca8d-534e-5d45-b1b9-1207e9a0c75c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 20, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [226, 384], "ang_err_namer_deg": 8.493517771723, "ang_err_cycle_deg": 1.4300572414064059, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "612fca8d_seg2", "clip": "612fca8d-534e-5d45-b1b9-1207e9a0c75c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/61/61ce187a-b7cf-53f2-b93b-2830e688c7e1.json b/labels/outdoor/61/61ce187a-b7cf-53f2-b93b-2830e688c7e1.json
index dd78ad02ca17c94b84bfe1fde7fb46ba0af24a8f..08928f87961f8fd6f58cf90a9ef85a3e43c01e06 100644
--- a/labels/outdoor/61/61ce187a-b7cf-53f2-b93b-2830e688c7e1.json
+++ b/labels/outdoor/61/61ce187a-b7cf-53f2-b93b-2830e688c7e1.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area between the two houses.", "destination": "the area between the two houses", "start_xy": [512, 623], "ang_err_namer_deg": 2.0942123712683647, "ang_err_cycle_deg": 4.619319606385222, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "61ce187a_seg0", "clip": "61ce187a-b7cf-53f2-b93b-2830e688c7e1", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 35, "instruction": "Go to the red tractor parked by the yellow building.", "destination": "the red tractor", "start_xy": [634, 612], "ang_err_namer_deg": 10.347799213995986, "ang_err_cycle_deg": 10.656403596737391, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "61ce187a_seg1", "clip": "61ce187a-b7cf-53f2-b93b-2830e688c7e1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 35, "instruction": "Go to the red tractor parked by the yellow building.", "destination": "the red tractor", "start_xy": [634, 612], "ang_err_namer_deg": 10.347799213995986, "ang_err_cycle_deg": 10.656403596737391, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "61ce187a_seg1", "clip": "61ce187a-b7cf-53f2-b93b-2830e688c7e1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/62/621dd6c1-e400-5c64-876b-5913a71112c6.json b/labels/outdoor/62/621dd6c1-e400-5c64-876b-5913a71112c6.json
index c1b80e996d8b233d9e523fef19f873c05e847ffc..c26309005f219f513abb2485c651d2f145f84d1c 100644
--- a/labels/outdoor/62/621dd6c1-e400-5c64-876b-5913a71112c6.json
+++ b/labels/outdoor/62/621dd6c1-e400-5c64-876b-5913a71112c6.json
@@ -1 +1 @@
-[{"t0": 39, "t_end": 71, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [648, 523], "ang_err_namer_deg": 1.2504091340642522, "ang_err_cycle_deg": 1.2504091340642522, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "621dd6c1_seg0", "clip": "621dd6c1-e400-5c64-876b-5913a71112c6", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the railway pole along the track.", "destination": "railway pole", "start_xy": [483, 574], "ang_err_namer_deg": 13.481090042950507, "ang_err_cycle_deg": 13.13135767069417, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "621dd6c1_seg1", "clip": "621dd6c1-e400-5c64-876b-5913a71112c6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 39, "t_end": 71, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [648, 523], "ang_err_namer_deg": 1.2504091340642522, "ang_err_cycle_deg": 1.2504091340642522, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "621dd6c1_seg0", "clip": "621dd6c1-e400-5c64-876b-5913a71112c6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/62/62872ab1-298b-55ad-82b5-1d1ba5a4a891.json b/labels/outdoor/62/62872ab1-298b-55ad-82b5-1d1ba5a4a891.json
index 27dd407659954b515ea29ec21d5d8084e5c5b6f7..a5963b07f924ac779cddc6ef9d1de6e40bc5eddf 100644
--- a/labels/outdoor/62/62872ab1-298b-55ad-82b5-1d1ba5a4a891.json
+++ b/labels/outdoor/62/62872ab1-298b-55ad-82b5-1d1ba5a4a891.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the white van parked on the street.", "destination": "the white van", "start_xy": [460, 688], "ang_err_namer_deg": 4.90404943339023, "ang_err_cycle_deg": 5.074917926967068, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "62872ab1_seg0", "clip": "62872ab1-298b-55ad-82b5-1d1ba5a4a891", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area with the white van in the distance.", "destination": "the white van", "start_xy": [528, 710], "ang_err_namer_deg": 2.556922665393877, "ang_err_cycle_deg": 2.1290361631581294, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "62872ab1_seg1", "clip": "62872ab1-298b-55ad-82b5-1d1ba5a4a891", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the area by the flower-decorated shops.", "destination": "the area by the flower-decorated shops", "start_xy": [400, 700], "ang_err_namer_deg": 10.548572694808426, "ang_err_cycle_deg": 12.480803306797707, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "62872ab1_seg2", "clip": "62872ab1-298b-55ad-82b5-1d1ba5a4a891", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the white van parked on the street.", "destination": "the white van", "start_xy": [460, 688], "ang_err_namer_deg": 4.90404943339023, "ang_err_cycle_deg": 5.074917926967068, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "62872ab1_seg0", "clip": "62872ab1-298b-55ad-82b5-1d1ba5a4a891", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the area by the flower-decorated shops.", "destination": "the area by the flower-decorated shops", "start_xy": [400, 700], "ang_err_namer_deg": 10.548572694808426, "ang_err_cycle_deg": 12.480803306797707, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "62872ab1_seg2", "clip": "62872ab1-298b-55ad-82b5-1d1ba5a4a891", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/62/62c0a050-7d49-5d81-b937-fbdb878ed696.json b/labels/outdoor/62/62c0a050-7d49-5d81-b937-fbdb878ed696.json
index f4612cf5eb1ffda05e95c109b04990edec71a1f2..a68343bf0d2fb8fd11433b03bff2a9fc1be84a79 100644
--- a/labels/outdoor/62/62c0a050-7d49-5d81-b937-fbdb878ed696.json
+++ b/labels/outdoor/62/62c0a050-7d49-5d81-b937-fbdb878ed696.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the brown car.", "destination": "the brown car", "start_xy": [612, 685], "ang_err_namer_deg": 5.580359667270055, "ang_err_cycle_deg": 6.205186531849413, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "62c0a050_seg0", "clip": "62c0a050-7d49-5d81-b937-fbdb878ed696", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with the parking signs.", "destination": "the area with the parking signs", "start_xy": [369, 145], "ang_err_namer_deg": 13.059469675115198, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "62c0a050_seg1", "clip": "62c0a050-7d49-5d81-b937-fbdb878ed696", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area with the yellow trees in the distance.", "destination": "the area with the yellow trees in the distance", "start_xy": [492, 662], "ang_err_namer_deg": 1.1144924356250128, "ang_err_cycle_deg": 2.637459922052858, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "62c0a050_seg2", "clip": "62c0a050-7d49-5d81-b937-fbdb878ed696", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the brown car.", "destination": "the brown car", "start_xy": [612, 685], "ang_err_namer_deg": 5.580359667270055, "ang_err_cycle_deg": 6.205186531849413, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "62c0a050_seg0", "clip": "62c0a050-7d49-5d81-b937-fbdb878ed696", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/63/634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e.json b/labels/outdoor/63/634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e.json
index c30c34a0c6df1a2cb68a52d260a36e9114724083..00b296c1d58bf9d647dc16bf970ed197e5dc3d8f 100644
--- a/labels/outdoor/63/634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e.json
+++ b/labels/outdoor/63/634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the bend in the mountain road.", "destination": "the bend in the mountain road", "start_xy": [485, 620], "ang_err_namer_deg": 4.59033675842629, "ang_err_cycle_deg": 5.4277919368021665, "confidence": "A", "arrival_ok": true, "duration_s": 3.48650016360693, "tier": "M", "id": "634f9d5b_seg0", "clip": "634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the stone wall along the cliffside road.", "destination": "the area by the stone wall along the cliffside road", "start_xy": [800, 680], "ang_err_namer_deg": 8.243869284322905, "ang_err_cycle_deg": 3.6967325281768186, "confidence": "A", "arrival_ok": true, "duration_s": 6.422500301381187, "tier": "L", "id": "634f9d5b_seg1", "clip": "634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [556, 481], "ang_err_namer_deg": 1.5295170666630533, "ang_err_cycle_deg": 2.9555979564614883, "confidence": "B", "arrival_ok": false, "duration_s": 4.220500198050495, "tier": "M", "id": "634f9d5b_seg2", "clip": "634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the bend in the mountain road.", "destination": "the bend in the mountain road", "start_xy": [485, 620], "ang_err_namer_deg": 4.59033675842629, "ang_err_cycle_deg": 5.4277919368021665, "confidence": "A", "arrival_ok": true, "duration_s": 3.48650016360693, "tier": "M", "id": "634f9d5b_seg0", "clip": "634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the stone wall along the cliffside road.", "destination": "the area by the stone wall along the cliffside road", "start_xy": [800, 680], "ang_err_namer_deg": 8.243869284322905, "ang_err_cycle_deg": 3.6967325281768186, "confidence": "A", "arrival_ok": true, "duration_s": 6.422500301381187, "tier": "L", "id": "634f9d5b_seg1", "clip": "634f9d5b-eefa-5f6a-a1b0-d269a4a46b4e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/64/64586241-7bf2-56c5-8bac-a59b3be5c055.json b/labels/outdoor/64/64586241-7bf2-56c5-8bac-a59b3be5c055.json
index 33fc82df4ddc6177677bd4fd94b13b9923a89a2a..39a93abdef8dee161ba17c58bcca23450340bc6e 100644
--- a/labels/outdoor/64/64586241-7bf2-56c5-8bac-a59b3be5c055.json
+++ b/labels/outdoor/64/64586241-7bf2-56c5-8bac-a59b3be5c055.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the area of the road where the stone wall ends.", "destination": "the end of the stone wall", "start_xy": [375, 515], "ang_err_namer_deg": 5.878819408239932, "ang_err_cycle_deg": 3.236459204574198, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "64586241_seg0", "clip": "64586241-7bf2-56c5-8bac-a59b3be5c055", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the end of the stone barrier.", "destination": "the end of the stone barrier", "start_xy": [328, 505], "ang_err_namer_deg": 0.48955997897886305, "ang_err_cycle_deg": 1.211692912352577, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "64586241_seg1", "clip": "64586241-7bf2-56c5-8bac-a59b3be5c055", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the writing on the road.", "destination": "the writing on the road", "start_xy": [425, 745], "ang_err_namer_deg": 11.81524355467978, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "64586241_seg2", "clip": "64586241-7bf2-56c5-8bac-a59b3be5c055", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 69, "t_end": 89, "instruction": "Go to the area of the road where the stone wall ends.", "destination": "the end of the stone wall", "start_xy": [375, 515], "ang_err_namer_deg": 5.878819408239932, "ang_err_cycle_deg": 3.236459204574198, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "64586241_seg0", "clip": "64586241-7bf2-56c5-8bac-a59b3be5c055", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the end of the stone barrier.", "destination": "the end of the stone barrier", "start_xy": [328, 505], "ang_err_namer_deg": 0.48955997897886305, "ang_err_cycle_deg": 1.211692912352577, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "64586241_seg1", "clip": "64586241-7bf2-56c5-8bac-a59b3be5c055", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/64/649ee058-f44c-598f-a73d-6b9fcef90cb2.json b/labels/outdoor/64/649ee058-f44c-598f-a73d-6b9fcef90cb2.json
index 41980feab4f16867c8c92530ed5a5a717832ce76..3d1f6a070d76f4bab3cc6ea7ad7611e5d0044f5b 100644
--- a/labels/outdoor/64/649ee058-f44c-598f-a73d-6b9fcef90cb2.json
+++ b/labels/outdoor/64/649ee058-f44c-598f-a73d-6b9fcef90cb2.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the wooden shed on the hillside.", "destination": "the wooden shed on the hillside", "start_xy": [312, 481], "ang_err_namer_deg": 0.9712096638211947, "ang_err_cycle_deg": 12.929343468774126, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "649ee058_seg0", "clip": "649ee058-f44c-598f-a73d-6b9fcef90cb2", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area with the speed limit sign.", "destination": "the area with the speed limit sign", "start_xy": [352, 705], "ang_err_namer_deg": 1.0388280310460452, "ang_err_cycle_deg": 0.9585650524370776, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "649ee058_seg1", "clip": "649ee058-f44c-598f-a73d-6b9fcef90cb2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the wooden house by the road.", "destination": "the wooden house", "start_xy": [586, 596], "ang_err_namer_deg": 12.266522513454118, "ang_err_cycle_deg": 9.311235445559339, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "649ee058_seg2", "clip": "649ee058-f44c-598f-a73d-6b9fcef90cb2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the area with the speed limit sign.", "destination": "the area with the speed limit sign", "start_xy": [352, 705], "ang_err_namer_deg": 1.0388280310460452, "ang_err_cycle_deg": 0.9585650524370776, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "649ee058_seg1", "clip": "649ee058-f44c-598f-a73d-6b9fcef90cb2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the wooden house by the road.", "destination": "the wooden house", "start_xy": [586, 596], "ang_err_namer_deg": 12.266522513454118, "ang_err_cycle_deg": 9.311235445559339, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "649ee058_seg2", "clip": "649ee058-f44c-598f-a73d-6b9fcef90cb2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/66/665b9449-539b-5760-a915-573b9dae8ad7.json b/labels/outdoor/66/665b9449-539b-5760-a915-573b9dae8ad7.json
index 77cd79d5600765794cb9ced24a09b0b6495f9a2e..fa6134bbceff98e32f800b886c468271e2c2a082 100644
--- a/labels/outdoor/66/665b9449-539b-5760-a915-573b9dae8ad7.json
+++ b/labels/outdoor/66/665b9449-539b-5760-a915-573b9dae8ad7.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the bridge guardrail.", "destination": "the bridge guardrail", "start_xy": [372, 622], "ang_err_namer_deg": 4.647699376938088, "ang_err_cycle_deg": 3.0343053316686737, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "665b9449_seg0", "clip": "665b9449-539b-5760-a915-573b9dae8ad7", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area with the billboard sign on the side of the road.", "destination": "billboard sign", "start_xy": [281, 594], "ang_err_namer_deg": 1.2778657134396216, "ang_err_cycle_deg": 1.2778657134396216, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "665b9449_seg1", "clip": "665b9449-539b-5760-a915-573b9dae8ad7", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the Desha Bridge.", "destination": "the Desha Bridge", "start_xy": [607, 55], "ang_err_namer_deg": 6.476756408605221, "ang_err_cycle_deg": 13.720561631932712, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "665b9449_seg2", "clip": "665b9449-539b-5760-a915-573b9dae8ad7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the area with the billboard sign on the side of the road.", "destination": "billboard sign", "start_xy": [281, 594], "ang_err_namer_deg": 1.2778657134396216, "ang_err_cycle_deg": 1.2778657134396216, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "665b9449_seg1", "clip": "665b9449-539b-5760-a915-573b9dae8ad7", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the Desha Bridge.", "destination": "the Desha Bridge", "start_xy": [607, 55], "ang_err_namer_deg": 6.476756408605221, "ang_err_cycle_deg": 13.720561631932712, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "665b9449_seg2", "clip": "665b9449-539b-5760-a915-573b9dae8ad7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/66/66dd446e-a377-53b4-ad14-b02671ce1a22.json b/labels/outdoor/66/66dd446e-a377-53b4-ad14-b02671ce1a22.json
index 78548855afea1a11fbbdf694a035f946c0f3fdcc..e1b433a9eae6a9f18d095ceddcf79e6439c46fb1 100644
--- a/labels/outdoor/66/66dd446e-a377-53b4-ad14-b02671ce1a22.json
+++ b/labels/outdoor/66/66dd446e-a377-53b4-ad14-b02671ce1a22.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the Steinhuber building.", "destination": "the area in front of the Steinhuber building", "start_xy": [700, 500], "ang_err_namer_deg": 11.694198377490611, "ang_err_cycle_deg": 6.216668079477416, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "66dd446e_seg0", "clip": "66dd446e-a377-53b4-ad14-b02671ce1a22", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the yellow car.", "destination": "the area by the yellow car", "start_xy": [444, 634], "ang_err_namer_deg": 1.1709989411434614, "ang_err_cycle_deg": 1.1709989411434614, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "66dd446e_seg1", "clip": "66dd446e-a377-53b4-ad14-b02671ce1a22", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the bus stop area.", "destination": "bus stop", "start_xy": [372, 558], "ang_err_namer_deg": 0.01977190814535391, "ang_err_cycle_deg": 0.01977190814535391, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "66dd446e_seg2", "clip": "66dd446e-a377-53b4-ad14-b02671ce1a22", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the Steinhuber building.", "destination": "the area in front of the Steinhuber building", "start_xy": [700, 500], "ang_err_namer_deg": 11.694198377490611, "ang_err_cycle_deg": 6.216668079477416, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "66dd446e_seg0", "clip": "66dd446e-a377-53b4-ad14-b02671ce1a22", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the bus stop area.", "destination": "bus stop", "start_xy": [372, 558], "ang_err_namer_deg": 0.01977190814535391, "ang_err_cycle_deg": 0.01977190814535391, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "66dd446e_seg2", "clip": "66dd446e-a377-53b4-ad14-b02671ce1a22", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/67/677827db-7e15-5b16-91e4-6b01464a631d.json b/labels/outdoor/67/677827db-7e15-5b16-91e4-6b01464a631d.json
index 31c196f990a04ee93b04510425910a9147a834d2..fd1aa4b39ef0deffdcd489d0500270c89e4b3a69 100644
--- a/labels/outdoor/67/677827db-7e15-5b16-91e4-6b01464a631d.json
+++ b/labels/outdoor/67/677827db-7e15-5b16-91e4-6b01464a631d.json
@@ -1 +1 @@
-[{"t0": 78, "t_end": 89, "instruction": "Go to the water tank.", "destination": "water tank", "start_xy": [930, 570], "ang_err_namer_deg": 6.371519863189859, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "677827db_seg0", "clip": "677827db-7e15-5b16-91e4-6b01464a631d", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 76, "instruction": "Go to the red car.", "destination": "the red car", "start_xy": [357, 745], "ang_err_namer_deg": 6.97027608736029, "ang_err_cycle_deg": 6.695050559223443, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "677827db_seg1", "clip": "677827db-7e15-5b16-91e4-6b01464a631d", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 36, "instruction": "Go to the yellow curve warning sign.", "destination": "the yellow curve warning sign", "start_xy": [210, 673], "ang_err_namer_deg": 0.6570638931686672, "ang_err_cycle_deg": 0.6570638931686672, "confidence": "A", "arrival_ok": true, "duration_s": 5.6723333333333334, "tier": "L", "id": "677827db_seg2", "clip": "677827db-7e15-5b16-91e4-6b01464a631d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 36, "instruction": "Go to the yellow curve warning sign.", "destination": "the yellow curve warning sign", "start_xy": [210, 673], "ang_err_namer_deg": 0.6570638931686672, "ang_err_cycle_deg": 0.6570638931686672, "confidence": "A", "arrival_ok": true, "duration_s": 5.6723333333333334, "tier": "L", "id": "677827db_seg2", "clip": "677827db-7e15-5b16-91e4-6b01464a631d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/67/679d7822-a2c9-583d-9264-38e0c8c09087.json b/labels/outdoor/67/679d7822-a2c9-583d-9264-38e0c8c09087.json
index 65e3191d98dacfb96b98934f53c88f7a3bad3c03..dc80ac2473ae9c12a11c754a52e39280cd16ae1f 100644
--- a/labels/outdoor/67/679d7822-a2c9-583d-9264-38e0c8c09087.json
+++ b/labels/outdoor/67/679d7822-a2c9-583d-9264-38e0c8c09087.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the entrance of the building on the left.", "destination": "the entrance of the building on the left", "start_xy": [105, 662], "ang_err_namer_deg": 7.501957874830904, "ang_err_cycle_deg": 7.501957874830904, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "679d7822_seg0", "clip": "679d7822-a2c9-583d-9264-38e0c8c09087", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area by the blue building.", "destination": "the area by the blue building", "start_xy": [863, 558], "ang_err_namer_deg": 11.942001528079825, "ang_err_cycle_deg": 16.409833402747726, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "679d7822_seg1", "clip": "679d7822-a2c9-583d-9264-38e0c8c09087", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the entrance of the building on the left.", "destination": "the entrance of the building on the left", "start_xy": [105, 662], "ang_err_namer_deg": 7.501957874830904, "ang_err_cycle_deg": 7.501957874830904, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "679d7822_seg0", "clip": "679d7822-a2c9-583d-9264-38e0c8c09087", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/67/67b386ab-3571-5df9-a51a-888dd9d565e3.json b/labels/outdoor/67/67b386ab-3571-5df9-a51a-888dd9d565e3.json
index fe0b3ca40a14967b9b618f92e5b9503ad6c29132..239d3f3817967127f33c5cdd19dc4cdab8b8f5d9 100644
--- a/labels/outdoor/67/67b386ab-3571-5df9-a51a-888dd9d565e3.json
+++ b/labels/outdoor/67/67b386ab-3571-5df9-a51a-888dd9d565e3.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the parked blue car.", "destination": "the area with the parked blue car", "start_xy": [655, 526], "ang_err_namer_deg": 4.7743478053536155, "ang_err_cycle_deg": 5.107116562651662, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "67b386ab_seg0", "clip": "67b386ab-3571-5df9-a51a-888dd9d565e3", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the brown garage door at the base of the yellow building.", "destination": "the brown garage door", "start_xy": [372, 483], "ang_err_namer_deg": 7.111096645666233, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "67b386ab_seg1", "clip": "67b386ab-3571-5df9-a51a-888dd9d565e3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the parked blue car.", "destination": "the area with the parked blue car", "start_xy": [655, 526], "ang_err_namer_deg": 4.7743478053536155, "ang_err_cycle_deg": 5.107116562651662, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "67b386ab_seg0", "clip": "67b386ab-3571-5df9-a51a-888dd9d565e3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/67/67b96997-e1ca-5d5f-9453-d004c3baecdb.json b/labels/outdoor/67/67b96997-e1ca-5d5f-9453-d004c3baecdb.json
index 5b3c404c825469e345980af66815bab391ae7241..e209bbd3261ccf7d3f395943a8a7c11c27f2ef67 100644
--- a/labels/outdoor/67/67b96997-e1ca-5d5f-9453-d004c3baecdb.json
+++ b/labels/outdoor/67/67b96997-e1ca-5d5f-9453-d004c3baecdb.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the building on the right.", "destination": "the building on the right", "start_xy": [401, 516], "ang_err_namer_deg": 0.33569607664546536, "ang_err_cycle_deg": 2.3625098903843624, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "67b96997_seg0", "clip": "67b96997-e1ca-5d5f-9453-d004c3baecdb", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the area with the graffiti-covered wall and trash bin.", "destination": "graffiti-covered wall and trash bin", "start_xy": [523, 591], "ang_err_namer_deg": 11.20893828066586, "ang_err_cycle_deg": 10.787861186108437, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "67b96997_seg1", "clip": "67b96997-e1ca-5d5f-9453-d004c3baecdb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 14, "instruction": "Go to the area with the graffiti-covered wall and trash bin.", "destination": "graffiti-covered wall and trash bin", "start_xy": [523, 591], "ang_err_namer_deg": 11.20893828066586, "ang_err_cycle_deg": 10.787861186108437, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "67b96997_seg1", "clip": "67b96997-e1ca-5d5f-9453-d004c3baecdb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/68/68c2b9f2-28b8-5f12-aacd-b559ab89533a.json b/labels/outdoor/68/68c2b9f2-28b8-5f12-aacd-b559ab89533a.json
index 97a1a4ba3a8e530d97a1ce1d17b03f395de62401..f5b98a98d648f39deac43f8d034dfd1b0045b914 100644
--- a/labels/outdoor/68/68c2b9f2-28b8-5f12-aacd-b559ab89533a.json
+++ b/labels/outdoor/68/68c2b9f2-28b8-5f12-aacd-b559ab89533a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the portable office cabin.", "destination": "the portable office cabin", "start_xy": [956, 643], "ang_err_namer_deg": 12.873395009774788, "ang_err_cycle_deg": 12.672305640067417, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "68c2b9f2_seg0", "clip": "68c2b9f2-28b8-5f12-aacd-b559ab89533a", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 34, "instruction": "Go to the area by the small building.", "destination": "the small building", "start_xy": [339, 662], "ang_err_namer_deg": 12.929219387705778, "ang_err_cycle_deg": 3.7377407058634655, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "68c2b9f2_seg1", "clip": "68c2b9f2-28b8-5f12-aacd-b559ab89533a", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the wooden signpost.", "destination": "the wooden signpost", "start_xy": [366, 703], "ang_err_namer_deg": 5.648668919609459, "ang_err_cycle_deg": 5.710029467446989, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "68c2b9f2_seg2", "clip": "68c2b9f2-28b8-5f12-aacd-b559ab89533a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the portable office cabin.", "destination": "the portable office cabin", "start_xy": [956, 643], "ang_err_namer_deg": 12.873395009774788, "ang_err_cycle_deg": 12.672305640067417, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "68c2b9f2_seg0", "clip": "68c2b9f2-28b8-5f12-aacd-b559ab89533a", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the wooden signpost.", "destination": "the wooden signpost", "start_xy": [366, 703], "ang_err_namer_deg": 5.648668919609459, "ang_err_cycle_deg": 5.710029467446989, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "68c2b9f2_seg2", "clip": "68c2b9f2-28b8-5f12-aacd-b559ab89533a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/68/68f05afe-9d7b-55e1-876c-f7d7aa2105d3.json b/labels/outdoor/68/68f05afe-9d7b-55e1-876c-f7d7aa2105d3.json
index 1f217a6f04c6ee0aafae826c4d0a016509a40237..59e859d4a640450239fde6fd8ed607c892049646 100644
--- a/labels/outdoor/68/68f05afe-9d7b-55e1-876c-f7d7aa2105d3.json
+++ b/labels/outdoor/68/68f05afe-9d7b-55e1-876c-f7d7aa2105d3.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area with the white house.", "destination": "the white house", "start_xy": [482, 612], "ang_err_namer_deg": 8.013156793422754, "ang_err_cycle_deg": 4.7444280174469595, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "68f05afe_seg0", "clip": "68f05afe-9d7b-55e1-876c-f7d7aa2105d3", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the road signs at the fork in the road.", "destination": "the road signs", "start_xy": [343, 579], "ang_err_namer_deg": 0.1607258540379191, "ang_err_cycle_deg": 2.296281489164109, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "68f05afe_seg1", "clip": "68f05afe-9d7b-55e1-876c-f7d7aa2105d3", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the Volg store.", "destination": "the Volg store", "start_xy": [510, 605], "ang_err_namer_deg": 10.459924644316688, "ang_err_cycle_deg": 0.8201377587892361, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "68f05afe_seg2", "clip": "68f05afe-9d7b-55e1-876c-f7d7aa2105d3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the road signs at the fork in the road.", "destination": "the road signs", "start_xy": [343, 579], "ang_err_namer_deg": 0.1607258540379191, "ang_err_cycle_deg": 2.296281489164109, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "68f05afe_seg1", "clip": "68f05afe-9d7b-55e1-876c-f7d7aa2105d3", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the Volg store.", "destination": "the Volg store", "start_xy": [510, 605], "ang_err_namer_deg": 10.459924644316688, "ang_err_cycle_deg": 0.8201377587892361, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "68f05afe_seg2", "clip": "68f05afe-9d7b-55e1-876c-f7d7aa2105d3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6b/6b194353-fa72-5fe4-8d0f-3a51c7e3a079.json b/labels/outdoor/6b/6b194353-fa72-5fe4-8d0f-3a51c7e3a079.json
index 1af2b54acc646bad165d9cb6a7f1fd6ebf8423a6..adc98b52af4a599633436e1b0e83026f76d6dc7b 100644
--- a/labels/outdoor/6b/6b194353-fa72-5fe4-8d0f-3a51c7e3a079.json
+++ b/labels/outdoor/6b/6b194353-fa72-5fe4-8d0f-3a51c7e3a079.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the lone tree on the side of the road.", "destination": "the lone tree", "start_xy": [454, 558], "ang_err_namer_deg": 13.205638821757269, "ang_err_cycle_deg": 13.205638821757269, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6b194353_seg0", "clip": "6b194353-fa72-5fe4-8d0f-3a51c7e3a079", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the tree near the road.", "destination": "the tree near the road", "start_xy": [196, 643], "ang_err_namer_deg": 1.4043766216932076, "ang_err_cycle_deg": 1.2727399012847442, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "6b194353_seg1", "clip": "6b194353-fa72-5fe4-8d0f-3a51c7e3a079", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the lone tree on the side of the road.", "destination": "the lone tree", "start_xy": [454, 558], "ang_err_namer_deg": 13.205638821757269, "ang_err_cycle_deg": 13.205638821757269, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6b194353_seg0", "clip": "6b194353-fa72-5fe4-8d0f-3a51c7e3a079", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6c/6c5efb6b-a5bf-5212-9763-eaa84756030a.json b/labels/outdoor/6c/6c5efb6b-a5bf-5212-9763-eaa84756030a.json
index a1be187243fee422065eaafb6b3b4a6d9fdc5690..b4260e7913ae37b0bc61188cd3240c37e0bb6a4a 100644
--- a/labels/outdoor/6c/6c5efb6b-a5bf-5212-9763-eaa84756030a.json
+++ b/labels/outdoor/6c/6c5efb6b-a5bf-5212-9763-eaa84756030a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the utility pole near the curve in the road.", "destination": "the utility pole near the curve", "start_xy": [487, 500], "ang_err_namer_deg": 9.389776388156456, "ang_err_cycle_deg": 9.389776388156456, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "6c5efb6b_seg0", "clip": "6c5efb6b-a5bf-5212-9763-eaa84756030a", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [763, 597], "ang_err_namer_deg": 5.202210992599755, "ang_err_cycle_deg": 4.973834047755211, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "6c5efb6b_seg1", "clip": "6c5efb6b-a5bf-5212-9763-eaa84756030a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the wooden hut on the side of the road.", "destination": "the wooden hut", "start_xy": [75, 512], "ang_err_namer_deg": 0.7604705968562105, "ang_err_cycle_deg": 2.6560792553310923, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "6c5efb6b_seg2", "clip": "6c5efb6b-a5bf-5212-9763-eaa84756030a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the utility pole near the curve in the road.", "destination": "the utility pole near the curve", "start_xy": [487, 500], "ang_err_namer_deg": 9.389776388156456, "ang_err_cycle_deg": 9.389776388156456, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "6c5efb6b_seg0", "clip": "6c5efb6b-a5bf-5212-9763-eaa84756030a", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [763, 597], "ang_err_namer_deg": 5.202210992599755, "ang_err_cycle_deg": 4.973834047755211, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "6c5efb6b_seg1", "clip": "6c5efb6b-a5bf-5212-9763-eaa84756030a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6d/6d301319-bc0c-5cac-92cc-486a8ea2d730.json b/labels/outdoor/6d/6d301319-bc0c-5cac-92cc-486a8ea2d730.json
index fade58bb3aaab780514ae03485a7996ead3283be..2075155210096b2106216942a46cc069bea2b7dc 100644
--- a/labels/outdoor/6d/6d301319-bc0c-5cac-92cc-486a8ea2d730.json
+++ b/labels/outdoor/6d/6d301319-bc0c-5cac-92cc-486a8ea2d730.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the large tree on the right side of the road.", "destination": "the large tree on the right", "start_xy": [582, 272], "ang_err_namer_deg": 11.58232285281859, "ang_err_cycle_deg": 9.959763629574946, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "6d301319_seg0", "clip": "6d301319-bc0c-5cac-92cc-486a8ea2d730", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the tree in the center of the path.", "destination": "the tree in the center of the path", "start_xy": [472, 462], "ang_err_namer_deg": 0.33327362005733574, "ang_err_cycle_deg": 0.5466183033725855, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "6d301319_seg1", "clip": "6d301319-bc0c-5cac-92cc-486a8ea2d730", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the signpost.", "destination": "the signpost", "start_xy": [475, 454], "ang_err_namer_deg": 11.244244783423326, "ang_err_cycle_deg": 11.023984257441223, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "6d301319_seg2", "clip": "6d301319-bc0c-5cac-92cc-486a8ea2d730", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the large tree on the right side of the road.", "destination": "the large tree on the right", "start_xy": [582, 272], "ang_err_namer_deg": 11.58232285281859, "ang_err_cycle_deg": 9.959763629574946, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "6d301319_seg0", "clip": "6d301319-bc0c-5cac-92cc-486a8ea2d730", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6d/6d624bb4-bff0-5d25-b2cb-98ab0e748bb2.json b/labels/outdoor/6d/6d624bb4-bff0-5d25-b2cb-98ab0e748bb2.json
index 3f0d062186b6c7025ffc73c4c4ffe61c0fe26481..c87cb9fafcaf6d80df4c1b046bfa54eb04c60e22 100644
--- a/labels/outdoor/6d/6d624bb4-bff0-5d25-b2cb-98ab0e748bb2.json
+++ b/labels/outdoor/6d/6d624bb4-bff0-5d25-b2cb-98ab0e748bb2.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the white house with the brown fence.", "destination": "the area in front of the white house with the brown fence", "start_xy": [485, 622], "ang_err_namer_deg": 4.419413835451488, "ang_err_cycle_deg": 4.546077512519717, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "6d624bb4_seg0", "clip": "6d624bb4-bff0-5d25-b2cb-98ab0e748bb2", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the silver car parked on the right.", "destination": "the area by the silver car", "start_xy": [648, 728], "ang_err_namer_deg": 5.322738543058995, "ang_err_cycle_deg": 4.946896400975223, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "6d624bb4_seg1", "clip": "6d624bb4-bff0-5d25-b2cb-98ab0e748bb2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the yellow house.", "destination": "the area by the yellow house", "start_xy": [756, 579], "ang_err_namer_deg": 10.920093463170549, "ang_err_cycle_deg": 4.954239528829247, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "6d624bb4_seg2", "clip": "6d624bb4-bff0-5d25-b2cb-98ab0e748bb2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the white house with the brown fence.", "destination": "the area in front of the white house with the brown fence", "start_xy": [485, 622], "ang_err_namer_deg": 4.419413835451488, "ang_err_cycle_deg": 4.546077512519717, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "6d624bb4_seg0", "clip": "6d624bb4-bff0-5d25-b2cb-98ab0e748bb2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6d/6dcc5840-5c86-5479-85e4-2d3a352b7cdb.json b/labels/outdoor/6d/6dcc5840-5c86-5479-85e4-2d3a352b7cdb.json
index fa0e02c3c8e2d067b27daa03459d7294861b4cb7..3de7fabff86693c1a4113aac98bf219b18f24b35 100644
--- a/labels/outdoor/6d/6dcc5840-5c86-5479-85e4-2d3a352b7cdb.json
+++ b/labels/outdoor/6d/6dcc5840-5c86-5479-85e4-2d3a352b7cdb.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the train tracks.", "destination": "utility pole", "start_xy": [498, 427], "ang_err_namer_deg": 8.055286551067608, "ang_err_cycle_deg": 7.494732243102977, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "6dcc5840_seg0", "clip": "6dcc5840-5c86-5479-85e4-2d3a352b7cdb", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the small shed near the train tracks.", "destination": "small shed", "start_xy": [466, 506], "ang_err_namer_deg": 5.7565299551498486, "ang_err_cycle_deg": 5.663392094174013, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "6dcc5840_seg1", "clip": "6dcc5840-5c86-5479-85e4-2d3a352b7cdb", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area along the train tracks leading toward the distant mountain.", "destination": "the train tracks", "start_xy": [487, 624], "ang_err_namer_deg": 6.470609646943093, "ang_err_cycle_deg": 4.3219228533953205, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "6dcc5840_seg2", "clip": "6dcc5840-5c86-5479-85e4-2d3a352b7cdb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the train tracks.", "destination": "utility pole", "start_xy": [498, 427], "ang_err_namer_deg": 8.055286551067608, "ang_err_cycle_deg": 7.494732243102977, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "6dcc5840_seg0", "clip": "6dcc5840-5c86-5479-85e4-2d3a352b7cdb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6e/6e0dce2d-7f2a-5eae-b0ff-8da658ac934c.json b/labels/outdoor/6e/6e0dce2d-7f2a-5eae-b0ff-8da658ac934c.json
index 590d56881c4f83f6f3ab376344cfa6a5ba29b712..76e89c4ecf8c39eab0487a7bf039cb0e796343a5 100644
--- a/labels/outdoor/6e/6e0dce2d-7f2a-5eae-b0ff-8da658ac934c.json
+++ b/labels/outdoor/6e/6e0dce2d-7f2a-5eae-b0ff-8da658ac934c.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [750, 700], "ang_err_namer_deg": 4.084793705328595, "ang_err_cycle_deg": 2.3363432288391723, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6e0dce2d_seg0", "clip": "6e0dce2d-7f2a-5eae-b0ff-8da658ac934c", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the white house.", "destination": "white house", "start_xy": [490, 570], "ang_err_namer_deg": 5.069562488654843, "ang_err_cycle_deg": 4.290884959863854, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "6e0dce2d_seg1", "clip": "6e0dce2d-7f2a-5eae-b0ff-8da658ac934c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the bridge.", "destination": "the bridge", "start_xy": [750, 700], "ang_err_namer_deg": 4.084793705328595, "ang_err_cycle_deg": 2.3363432288391723, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6e0dce2d_seg0", "clip": "6e0dce2d-7f2a-5eae-b0ff-8da658ac934c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6e/6e85f0e7-a444-5669-9cf0-9c205099e552.json b/labels/outdoor/6e/6e85f0e7-a444-5669-9cf0-9c205099e552.json
index 786776f69640046561593cd3d6099cc31e17fabc..e87c93084f4e6b0f330ab368d2d38ffee4c5130d 100644
--- a/labels/outdoor/6e/6e85f0e7-a444-5669-9cf0-9c205099e552.json
+++ b/labels/outdoor/6e/6e85f0e7-a444-5669-9cf0-9c205099e552.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the red arch in the distance.", "destination": "the red arch", "start_xy": [204, 591], "ang_err_namer_deg": 2.2531215310211063, "ang_err_cycle_deg": 2.2531215310211063, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "6e85f0e7_seg0", "clip": "6e85f0e7-a444-5669-9cf0-9c205099e552", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the sign by the road.", "destination": "the sign by the road", "start_xy": [558, 604], "ang_err_namer_deg": 2.784944683912721, "ang_err_cycle_deg": 2.784944683912721, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6e85f0e7_seg1", "clip": "6e85f0e7-a444-5669-9cf0-9c205099e552", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the white car parked ahead on the side of the road.", "destination": "the white car", "start_xy": [268, 639], "ang_err_namer_deg": 5.484047666283917, "ang_err_cycle_deg": 5.12754566748254, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "6e85f0e7_seg2", "clip": "6e85f0e7-a444-5669-9cf0-9c205099e552", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 45, "instruction": "Go to the sign by the road.", "destination": "the sign by the road", "start_xy": [558, 604], "ang_err_namer_deg": 2.784944683912721, "ang_err_cycle_deg": 2.784944683912721, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "6e85f0e7_seg1", "clip": "6e85f0e7-a444-5669-9cf0-9c205099e552", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6f/6f1596cf-a9cd-57cd-97f9-6c71e6ed4946.json b/labels/outdoor/6f/6f1596cf-a9cd-57cd-97f9-6c71e6ed4946.json
index 3b25a48c7210491f8151f017e3f3e4028b830959..9955d26b81ae8a078b7a4bcf66b9b40f5bb64959 100644
--- a/labels/outdoor/6f/6f1596cf-a9cd-57cd-97f9-6c71e6ed4946.json
+++ b/labels/outdoor/6f/6f1596cf-a9cd-57cd-97f9-6c71e6ed4946.json
@@ -1 +1 @@
-[{"t0": 54, "t_end": 81, "instruction": "Go to the car parked ahead on the road.", "destination": "the car parked ahead on the road", "start_xy": [206, 718], "ang_err_namer_deg": 0.4199693424857579, "ang_err_cycle_deg": 0.3662216153832894, "confidence": "B", "arrival_ok": false, "duration_s": 4.954949739487396, "tier": "M", "id": "6f1596cf_seg0", "clip": "6f1596cf-a9cd-57cd-97f9-6c71e6ed4946", "source": "spatialvid_v3"}, {"t0": 7, "t_end": 42, "instruction": "Go to the area by the trees at the bend in the road.", "destination": "the area by the trees at the bend in the road", "start_xy": [456, 427], "ang_err_namer_deg": 4.242818046130016, "ang_err_cycle_deg": 0.5748090452610934, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "6f1596cf_seg1", "clip": "6f1596cf-a9cd-57cd-97f9-6c71e6ed4946", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 7, "t_end": 42, "instruction": "Go to the area by the trees at the bend in the road.", "destination": "the area by the trees at the bend in the road", "start_xy": [456, 427], "ang_err_namer_deg": 4.242818046130016, "ang_err_cycle_deg": 0.5748090452610934, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "6f1596cf_seg1", "clip": "6f1596cf-a9cd-57cd-97f9-6c71e6ed4946", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/6f/6f26acde-5c7b-5704-9c10-00be685121be.json b/labels/outdoor/6f/6f26acde-5c7b-5704-9c10-00be685121be.json
index dec41fcefb43185f8bc453c378bf4a5f186328a1..8f14413d811b87960d7c53e8e96fb8973ef42168 100644
--- a/labels/outdoor/6f/6f26acde-5c7b-5704-9c10-00be685121be.json
+++ b/labels/outdoor/6f/6f26acde-5c7b-5704-9c10-00be685121be.json
@@ -1 +1 @@
-[{"t0": 25, "t_end": 45, "instruction": "Go to the area along the rocky cliffside.", "destination": "the rocky cliffside", "start_xy": [483, 328], "ang_err_namer_deg": 9.202755150779375, "ang_err_cycle_deg": 0.6353257476307828, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "6f26acde_seg0", "clip": "6f26acde-5c7b-5704-9c10-00be685121be", "source": "spatialvid_v3"}, {"t0": 12, "t_end": 23, "instruction": "Go to the stone bridge corner.", "destination": "the stone bridge corner", "start_xy": [575, 575], "ang_err_namer_deg": 13.348658117033317, "ang_err_cycle_deg": 14.650321564408907, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "6f26acde_seg1", "clip": "6f26acde-5c7b-5704-9c10-00be685121be", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 12, "t_end": 23, "instruction": "Go to the stone bridge corner.", "destination": "the stone bridge corner", "start_xy": [575, 575], "ang_err_namer_deg": 13.348658117033317, "ang_err_cycle_deg": 14.650321564408907, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "6f26acde_seg1", "clip": "6f26acde-5c7b-5704-9c10-00be685121be", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/70/7018a604-8096-5f70-a1e4-65eac33e53e2.json b/labels/outdoor/70/7018a604-8096-5f70-a1e4-65eac33e53e2.json
index f2d1790fc30f46536f59575f3eb6dc97394d4450..622a30275612424556a8eda936f32b967fb35d01 100644
--- a/labels/outdoor/70/7018a604-8096-5f70-a1e4-65eac33e53e2.json
+++ b/labels/outdoor/70/7018a604-8096-5f70-a1e4-65eac33e53e2.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the Riva restaurant building.", "destination": "Riva restaurant building", "start_xy": [609, 605], "ang_err_namer_deg": 7.928686150507066, "ang_err_cycle_deg": 8.321354766499727, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7018a604_seg0", "clip": "7018a604-8096-5f70-a1e4-65eac33e53e2", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to Hyltons restaurant.", "destination": "Hyltons restaurant", "start_xy": [242, 574], "ang_err_namer_deg": 3.4849204213323324, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7018a604_seg1", "clip": "7018a604-8096-5f70-a1e4-65eac33e53e2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the Riva restaurant building.", "destination": "Riva restaurant building", "start_xy": [609, 605], "ang_err_namer_deg": 7.928686150507066, "ang_err_cycle_deg": 8.321354766499727, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7018a604_seg0", "clip": "7018a604-8096-5f70-a1e4-65eac33e53e2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/70/7047d105-0fd8-51e5-8768-b99cee6103bc.json b/labels/outdoor/70/7047d105-0fd8-51e5-8768-b99cee6103bc.json
index a8c4505a99976ed36591a8d8b29fe48343733437..c4dc6e991c76999de97d41a16c85c92ec87b313f 100644
--- a/labels/outdoor/70/7047d105-0fd8-51e5-8768-b99cee6103bc.json
+++ b/labels/outdoor/70/7047d105-0fd8-51e5-8768-b99cee6103bc.json
@@ -1 +1 @@
-[{"t0": 18, "t_end": 38, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [450, 450], "ang_err_namer_deg": 12.565847608907074, "ang_err_cycle_deg": 4.087856113581686, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "7047d105_seg0", "clip": "7047d105-0fd8-51e5-8768-b99cee6103bc", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [476, 558], "ang_err_namer_deg": 7.788745190849418, "ang_err_cycle_deg": 13.613550302512257, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "7047d105_seg1", "clip": "7047d105-0fd8-51e5-8768-b99cee6103bc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 18, "t_end": 38, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [450, 450], "ang_err_namer_deg": 12.565847608907074, "ang_err_cycle_deg": 4.087856113581686, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "7047d105_seg0", "clip": "7047d105-0fd8-51e5-8768-b99cee6103bc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/71/714ab128-c6aa-551e-839f-cb6ed4ffcd84.json b/labels/outdoor/71/714ab128-c6aa-551e-839f-cb6ed4ffcd84.json
index fd9d02791ab614c3b62a88355d0e920dc7679964..4e067cf1329132398ea36c957c3cf7bf165c515c 100644
--- a/labels/outdoor/71/714ab128-c6aa-551e-839f-cb6ed4ffcd84.json
+++ b/labels/outdoor/71/714ab128-c6aa-551e-839f-cb6ed4ffcd84.json
@@ -1 +1 @@
-[{"t0": 67, "t_end": 81, "instruction": "Go to the area in front of Akihabara Station.", "destination": "Akihabara Station", "start_xy": [673, 372], "ang_err_namer_deg": 7.443738861009143, "ang_err_cycle_deg": 9.275963634888095, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "714ab128_seg0", "clip": "714ab128-c6aa-551e-839f-cb6ed4ffcd84", "source": "spatialvid_v3"}, {"t0": 46, "t_end": 65, "instruction": "Go to the Pop Life Department M's store.", "destination": "Pop Life Department M's store", "start_xy": [625, 300], "ang_err_namer_deg": 7.384093104944396, "ang_err_cycle_deg": 6.824607120500667, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "714ab128_seg1", "clip": "714ab128-c6aa-551e-839f-cb6ed4ffcd84", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [487, 508], "ang_err_namer_deg": 6.976885673077468, "ang_err_cycle_deg": 19.21932146985502, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "714ab128_seg2", "clip": "714ab128-c6aa-551e-839f-cb6ed4ffcd84", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 67, "t_end": 81, "instruction": "Go to the area in front of Akihabara Station.", "destination": "Akihabara Station", "start_xy": [673, 372], "ang_err_namer_deg": 7.443738861009143, "ang_err_cycle_deg": 9.275963634888095, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "714ab128_seg0", "clip": "714ab128-c6aa-551e-839f-cb6ed4ffcd84", "source": "spatialvid_v3"}, {"t0": 46, "t_end": 65, "instruction": "Go to the Pop Life Department M's store.", "destination": "Pop Life Department M's store", "start_xy": [625, 300], "ang_err_namer_deg": 7.384093104944396, "ang_err_cycle_deg": 6.824607120500667, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "714ab128_seg1", "clip": "714ab128-c6aa-551e-839f-cb6ed4ffcd84", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/72/72642c35-9925-555a-816a-3176eb208218.json b/labels/outdoor/72/72642c35-9925-555a-816a-3176eb208218.json
index 48bb4b2fbe59e813932a0f600653d3b8c6d518ba..5eea08c5b36d39cb16a22d130e754b9ed9f53ccc 100644
--- a/labels/outdoor/72/72642c35-9925-555a-816a-3176eb208218.json
+++ b/labels/outdoor/72/72642c35-9925-555a-816a-3176eb208218.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the rock-walled cut in the track.", "destination": "the rock-walled cut in the track", "start_xy": [487, 512], "ang_err_namer_deg": 9.233794803802565, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "72642c35_seg0", "clip": "72642c35-9925-555a-816a-3176eb208218", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 34, "instruction": "Go to the utility pole standing beside the railroad tracks.", "destination": "the utility pole", "start_xy": [498, 427], "ang_err_namer_deg": 8.06130091055408, "ang_err_cycle_deg": 7.651321647053928, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "72642c35_seg1", "clip": "72642c35-9925-555a-816a-3176eb208218", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the railway sign.", "destination": "the railway sign", "start_xy": [404, 511], "ang_err_namer_deg": 4.066866060042329, "ang_err_cycle_deg": 4.166400115399483, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "72642c35_seg2", "clip": "72642c35-9925-555a-816a-3176eb208218", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 20, "t_end": 34, "instruction": "Go to the utility pole standing beside the railroad tracks.", "destination": "the utility pole", "start_xy": [498, 427], "ang_err_namer_deg": 8.06130091055408, "ang_err_cycle_deg": 7.651321647053928, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "72642c35_seg1", "clip": "72642c35-9925-555a-816a-3176eb208218", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the railway sign.", "destination": "the railway sign", "start_xy": [404, 511], "ang_err_namer_deg": 4.066866060042329, "ang_err_cycle_deg": 4.166400115399483, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "72642c35_seg2", "clip": "72642c35-9925-555a-816a-3176eb208218", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/72/7270c126-42bd-5ba3-8664-5c71361ed9fc.json b/labels/outdoor/72/7270c126-42bd-5ba3-8664-5c71361ed9fc.json
index 6f7cdb4a682a58af9bb0fd8b9612ada82cf0ae55..ae8c885d4e680512520f5199b9ead0b224b8609f 100644
--- a/labels/outdoor/72/7270c126-42bd-5ba3-8664-5c71361ed9fc.json
+++ b/labels/outdoor/72/7270c126-42bd-5ba3-8664-5c71361ed9fc.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the metal utility box on the side of the road.", "destination": "metal utility box", "start_xy": [395, 703], "ang_err_namer_deg": 6.257946383796003, "ang_err_cycle_deg": 6.057380900469769, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "7270c126_seg0", "clip": "7270c126-42bd-5ba3-8664-5c71361ed9fc", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the solar panel unit.", "destination": "the solar panel unit", "start_xy": [583, 558], "ang_err_namer_deg": 11.872865595231861, "ang_err_cycle_deg": 15.78637819965601, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "7270c126_seg1", "clip": "7270c126-42bd-5ba3-8664-5c71361ed9fc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the solar panel unit.", "destination": "the solar panel unit", "start_xy": [583, 558], "ang_err_namer_deg": 11.872865595231861, "ang_err_cycle_deg": 15.78637819965601, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "7270c126_seg1", "clip": "7270c126-42bd-5ba3-8664-5c71361ed9fc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/73/7305338c-dbde-551e-8174-5425b8f5920a.json b/labels/outdoor/73/7305338c-dbde-551e-8174-5425b8f5920a.json
index 06e28ed6e43bd16bf07cf41a62fa6af84ebddefb..f1d526813415b5d0a0f4ae8637c98e4da1c03a77 100644
--- a/labels/outdoor/73/7305338c-dbde-551e-8174-5425b8f5920a.json
+++ b/labels/outdoor/73/7305338c-dbde-551e-8174-5425b8f5920a.json
@@ -1 +1 @@
-[{"t0": 55, "t_end": 74, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road near the trees", "start_xy": [482, 744], "ang_err_namer_deg": 7.6162095419273825, "ang_err_cycle_deg": 6.182497921653467, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "7305338c_seg0", "clip": "7305338c-dbde-551e-8174-5425b8f5920a", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 53, "instruction": "Go to the area by the red marker post on the side of the road.", "destination": "the red marker post", "start_xy": [738, 662], "ang_err_namer_deg": 2.2242694651488475, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "7305338c_seg1", "clip": "7305338c-dbde-551e-8174-5425b8f5920a", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 16, "instruction": "Go to the area of the road where the rocky hillside meets the forest.", "destination": "the area where the rocky hillside meets the forest", "start_xy": [483, 507], "ang_err_namer_deg": 12.687012010367537, "ang_err_cycle_deg": 3.980221228242147, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7305338c_seg2", "clip": "7305338c-dbde-551e-8174-5425b8f5920a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 55, "t_end": 74, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road near the trees", "start_xy": [482, 744], "ang_err_namer_deg": 7.6162095419273825, "ang_err_cycle_deg": 6.182497921653467, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "7305338c_seg0", "clip": "7305338c-dbde-551e-8174-5425b8f5920a", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 16, "instruction": "Go to the area of the road where the rocky hillside meets the forest.", "destination": "the area where the rocky hillside meets the forest", "start_xy": [483, 507], "ang_err_namer_deg": 12.687012010367537, "ang_err_cycle_deg": 3.980221228242147, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7305338c_seg2", "clip": "7305338c-dbde-551e-8174-5425b8f5920a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/73/7338443c-76ad-53a8-835c-28143aae9bcc.json b/labels/outdoor/73/7338443c-76ad-53a8-835c-28143aae9bcc.json
index 72222e8492ed378c2c5e6c48bc2312bef8011227..6af9539831049f8eda082ff81c60573182b1fde7 100644
--- a/labels/outdoor/73/7338443c-76ad-53a8-835c-28143aae9bcc.json
+++ b/labels/outdoor/73/7338443c-76ad-53a8-835c-28143aae9bcc.json
@@ -1 +1 @@
-[{"t0": 16, "t_end": 51, "instruction": "Go to the area by the rocky cliff.", "destination": "the rocky cliff", "start_xy": [750, 500], "ang_err_namer_deg": 7.310693767294743, "ang_err_cycle_deg": 14.75657185243529, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "7338443c_seg0", "clip": "7338443c-76ad-53a8-835c-28143aae9bcc", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the silver car parked on the side of the road.", "destination": "the silver car", "start_xy": [395, 673], "ang_err_namer_deg": 8.905577678427797, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7338443c_seg1", "clip": "7338443c-76ad-53a8-835c-28143aae9bcc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 16, "t_end": 51, "instruction": "Go to the area by the rocky cliff.", "destination": "the rocky cliff", "start_xy": [750, 500], "ang_err_namer_deg": 7.310693767294743, "ang_err_cycle_deg": 14.75657185243529, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "7338443c_seg0", "clip": "7338443c-76ad-53a8-835c-28143aae9bcc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/74/741113a6-7487-5ed9-a709-5221f467df21.json b/labels/outdoor/74/741113a6-7487-5ed9-a709-5221f467df21.json
index 18641bc53ea9bfd0e936e144cef514f8ebd48737..c65a502a9425948c212730fec4840a64ed879e8b 100644
--- a/labels/outdoor/74/741113a6-7487-5ed9-a709-5221f467df21.json
+++ b/labels/outdoor/74/741113a6-7487-5ed9-a709-5221f467df21.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the roadside shelter where people are standing.", "destination": "the roadside shelter", "start_xy": [395, 558], "ang_err_namer_deg": 13.907604210070291, "ang_err_cycle_deg": 14.0798168684579, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "741113a6_seg0", "clip": "741113a6-7487-5ed9-a709-5221f467df21", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the small structure on the left side of the road.", "destination": "the small structure on the left side of the road", "start_xy": [465, 560], "ang_err_namer_deg": 2.5265359839012094, "ang_err_cycle_deg": 3.495239618097927, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "741113a6_seg1", "clip": "741113a6-7487-5ed9-a709-5221f467df21", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the area by the white car.", "destination": "the white car on the road", "start_xy": [483, 571], "ang_err_namer_deg": 2.3570371833785333, "ang_err_cycle_deg": 2.445382720814043, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "741113a6_seg2", "clip": "741113a6-7487-5ed9-a709-5221f467df21", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the roadside shelter where people are standing.", "destination": "the roadside shelter", "start_xy": [395, 558], "ang_err_namer_deg": 13.907604210070291, "ang_err_cycle_deg": 14.0798168684579, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "741113a6_seg0", "clip": "741113a6-7487-5ed9-a709-5221f467df21", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/75/750aed58-3bd5-535c-80e8-2b633736041d.json b/labels/outdoor/75/750aed58-3bd5-535c-80e8-2b633736041d.json
index 9f7abf3679955c4740e584c7b2242d81d69e5bca..0fc295d91fbe2b497fcceee3daefc82d0c4a2bbb 100644
--- a/labels/outdoor/75/750aed58-3bd5-535c-80e8-2b633736041d.json
+++ b/labels/outdoor/75/750aed58-3bd5-535c-80e8-2b633736041d.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [587, 530], "ang_err_namer_deg": 8.383212537305473, "ang_err_cycle_deg": 8.383212537305473, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "750aed58_seg0", "clip": "750aed58-3bd5-535c-80e8-2b633736041d", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [583, 551], "ang_err_namer_deg": 1.670983979242791, "ang_err_cycle_deg": 0.28661061127820364, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016367559602, "tier": "L", "id": "750aed58_seg1", "clip": "750aed58-3bd5-535c-80e8-2b633736041d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 71, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [587, 530], "ang_err_namer_deg": 8.383212537305473, "ang_err_cycle_deg": 8.383212537305473, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "750aed58_seg0", "clip": "750aed58-3bd5-535c-80e8-2b633736041d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/75/7568707c-f9a1-50af-be0e-2617ba219576.json b/labels/outdoor/75/7568707c-f9a1-50af-be0e-2617ba219576.json
index 4a7a0674511b3387cb20056b675f155623efedf0..a0d71439cb8501c2202ce31963141433f263308c 100644
--- a/labels/outdoor/75/7568707c-f9a1-50af-be0e-2617ba219576.json
+++ b/labels/outdoor/75/7568707c-f9a1-50af-be0e-2617ba219576.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the end of the stone wall along the right side of the road.", "destination": "the end of the stone wall", "start_xy": [357, 489], "ang_err_namer_deg": 5.0375836490447226, "ang_err_cycle_deg": 1.202369809481441, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7568707c_seg0", "clip": "7568707c-f9a1-50af-be0e-2617ba219576", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the stone wall along the side of the road.", "destination": "the stone wall", "start_xy": [305, 482], "ang_err_namer_deg": 13.590092622895996, "ang_err_cycle_deg": 13.590092622895996, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "7568707c_seg1", "clip": "7568707c-f9a1-50af-be0e-2617ba219576", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the stone barrier curve.", "destination": "stone barrier curve", "start_xy": [371, 484], "ang_err_namer_deg": 12.863138452648368, "ang_err_cycle_deg": 12.775632721520179, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "7568707c_seg2", "clip": "7568707c-f9a1-50af-be0e-2617ba219576", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the end of the stone wall along the right side of the road.", "destination": "the end of the stone wall", "start_xy": [357, 489], "ang_err_namer_deg": 5.0375836490447226, "ang_err_cycle_deg": 1.202369809481441, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7568707c_seg0", "clip": "7568707c-f9a1-50af-be0e-2617ba219576", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/75/75ffda0b-59ae-5847-a09c-fb2871f4f336.json b/labels/outdoor/75/75ffda0b-59ae-5847-a09c-fb2871f4f336.json
index e37b809fb1362dde81b310a4c5117f88ef3948c6..9719f62a8f24171501ab007fbe905b5caf119a15 100644
--- a/labels/outdoor/75/75ffda0b-59ae-5847-a09c-fb2871f4f336.json
+++ b/labels/outdoor/75/75ffda0b-59ae-5847-a09c-fb2871f4f336.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [455, 662], "ang_err_namer_deg": 7.1352126892520875, "ang_err_cycle_deg": 1.2197369892901697, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "75ffda0b_seg0", "clip": "75ffda0b-59ae-5847-a09c-fb2871f4f336", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area between the rock walls.", "destination": "the area between the rock walls", "start_xy": [455, 570], "ang_err_namer_deg": 8.604310080434612, "ang_err_cycle_deg": 3.3853288337744476, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "75ffda0b_seg1", "clip": "75ffda0b-59ae-5847-a09c-fb2871f4f336", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area between the rock walls.", "destination": "the area between the rock walls", "start_xy": [455, 570], "ang_err_namer_deg": 8.604310080434612, "ang_err_cycle_deg": 3.3853288337744476, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "75ffda0b_seg1", "clip": "75ffda0b-59ae-5847-a09c-fb2871f4f336", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/76/767ba9a3-3bee-56a8-b0cb-0120930d17c5.json b/labels/outdoor/76/767ba9a3-3bee-56a8-b0cb-0120930d17c5.json
index 24dcdc592628603463b13d29fa0fea26864fbf28..624e0b7a3f0912edb4c4c81978b13854f03f06b9 100644
--- a/labels/outdoor/76/767ba9a3-3bee-56a8-b0cb-0120930d17c5.json
+++ b/labels/outdoor/76/767ba9a3-3bee-56a8-b0cb-0120930d17c5.json
@@ -1 +1 @@
-[{"t0": 21, "t_end": 53, "instruction": "Go to the small white hut.", "destination": "small white hut", "start_xy": [284, 709], "ang_err_namer_deg": 13.427506011636932, "ang_err_cycle_deg": 7.724768108048377, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "767ba9a3_seg0", "clip": "767ba9a3-3bee-56a8-b0cb-0120930d17c5", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 19, "instruction": "Go to the white marker on the side of the road.", "destination": "the white marker", "start_xy": [353, 670], "ang_err_namer_deg": 7.8190008694921, "ang_err_cycle_deg": 5.844860044185496, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "767ba9a3_seg1", "clip": "767ba9a3-3bee-56a8-b0cb-0120930d17c5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 19, "instruction": "Go to the white marker on the side of the road.", "destination": "the white marker", "start_xy": [353, 670], "ang_err_namer_deg": 7.8190008694921, "ang_err_cycle_deg": 5.844860044185496, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "767ba9a3_seg1", "clip": "767ba9a3-3bee-56a8-b0cb-0120930d17c5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/76/76f17db7-0b06-53e5-b0b0-d85044add984.json b/labels/outdoor/76/76f17db7-0b06-53e5-b0b0-d85044add984.json
index 91af475b4766d87da2c4ef267f26ecc11af529ce..eff25bf406793c0123d4bed78a3a75896e8decd0 100644
--- a/labels/outdoor/76/76f17db7-0b06-53e5-b0b0-d85044add984.json
+++ b/labels/outdoor/76/76f17db7-0b06-53e5-b0b0-d85044add984.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the bridge in the distance.", "destination": "the bridge in the distance", "start_xy": [372, 745], "ang_err_namer_deg": 6.491929001158433, "ang_err_cycle_deg": 6.589246372738229, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "76f17db7_seg0", "clip": "76f17db7-0b06-53e5-b0b0-d85044add984", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [381, 512], "ang_err_namer_deg": 9.448280761440921, "ang_err_cycle_deg": 9.153909763445803, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "76f17db7_seg1", "clip": "76f17db7-0b06-53e5-b0b0-d85044add984", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [381, 512], "ang_err_namer_deg": 9.448280761440921, "ang_err_cycle_deg": 9.153909763445803, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "76f17db7_seg1", "clip": "76f17db7-0b06-53e5-b0b0-d85044add984", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/77/771250d9-6ab3-5bcb-81f0-5d27f31ea9f6.json b/labels/outdoor/77/771250d9-6ab3-5bcb-81f0-5d27f31ea9f6.json
index 8111373a58869bceca048f59a177f66b3718ffab..c2e4175e24c428d28a5ec23e95ae5dac1497237f 100644
--- a/labels/outdoor/77/771250d9-6ab3-5bcb-81f0-5d27f31ea9f6.json
+++ b/labels/outdoor/77/771250d9-6ab3-5bcb-81f0-5d27f31ea9f6.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the house on the hillside.", "destination": "the house on the hillside", "start_xy": [312, 403], "ang_err_namer_deg": 0.7957616317793452, "ang_err_cycle_deg": 1.2217877395969166, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "771250d9_seg0", "clip": "771250d9-6ab3-5bcb-81f0-5d27f31ea9f6", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [597, 512], "ang_err_namer_deg": 13.889347036247896, "ang_err_cycle_deg": 13.01943850988949, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "771250d9_seg1", "clip": "771250d9-6ab3-5bcb-81f0-5d27f31ea9f6", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 36, "instruction": "Go to the utility pole near the curve.", "destination": "the utility pole near the curve", "start_xy": [583, 501], "ang_err_namer_deg": 5.506503388749506, "ang_err_cycle_deg": 5.506503388749506, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "771250d9_seg2", "clip": "771250d9-6ab3-5bcb-81f0-5d27f31ea9f6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 55, "instruction": "Go to the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [597, 512], "ang_err_namer_deg": 13.889347036247896, "ang_err_cycle_deg": 13.01943850988949, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "771250d9_seg1", "clip": "771250d9-6ab3-5bcb-81f0-5d27f31ea9f6", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 36, "instruction": "Go to the utility pole near the curve.", "destination": "the utility pole near the curve", "start_xy": [583, 501], "ang_err_namer_deg": 5.506503388749506, "ang_err_cycle_deg": 5.506503388749506, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "771250d9_seg2", "clip": "771250d9-6ab3-5bcb-81f0-5d27f31ea9f6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/77/77bd223e-2ad9-5a9f-97fc-14ecc853be49.json b/labels/outdoor/77/77bd223e-2ad9-5a9f-97fc-14ecc853be49.json
index b30c86c6bcd00d88efa23deff34a832b5c26fde3..fa1a3ba5d85fb242abc1e095b09370322c2ba833 100644
--- a/labels/outdoor/77/77bd223e-2ad9-5a9f-97fc-14ecc853be49.json
+++ b/labels/outdoor/77/77bd223e-2ad9-5a9f-97fc-14ecc853be49.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 78, "instruction": "Go to the tree near the stone wall.", "destination": "the tree near the stone wall", "start_xy": [226, 501], "ang_err_namer_deg": 12.460128495516846, "ang_err_cycle_deg": 12.979524549549202, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "77bd223e_seg0", "clip": "77bd223e-2ad9-5a9f-97fc-14ecc853be49", "source": "spatialvid_v3"}, {"t0": 40, "t_end": 60, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [0, 700], "ang_err_namer_deg": 13.810809970360935, "ang_err_cycle_deg": 0.3552015959579885, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "77bd223e_seg1", "clip": "77bd223e-2ad9-5a9f-97fc-14ecc853be49", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [350, 550], "ang_err_namer_deg": 11.88148290277798, "ang_err_cycle_deg": 9.69412784647393, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "77bd223e_seg2", "clip": "77bd223e-2ad9-5a9f-97fc-14ecc853be49", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 40, "t_end": 60, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [0, 700], "ang_err_namer_deg": 13.810809970360935, "ang_err_cycle_deg": 0.3552015959579885, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "77bd223e_seg1", "clip": "77bd223e-2ad9-5a9f-97fc-14ecc853be49", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/78/7884dbdb-248f-5865-8141-042bac5a77d8.json b/labels/outdoor/78/7884dbdb-248f-5865-8141-042bac5a77d8.json
index 12c29189bc36895253697c36889c0ac20739b4b2..94931ae948e3068d95d0e5856c4cb92746975545 100644
--- a/labels/outdoor/78/7884dbdb-248f-5865-8141-042bac5a77d8.json
+++ b/labels/outdoor/78/7884dbdb-248f-5865-8141-042bac5a77d8.json
@@ -1 +1 @@
-[{"t0": 19, "t_end": 33, "instruction": "Go to the area near the white car.", "destination": "the white car", "start_xy": [245, 634], "ang_err_namer_deg": 8.45745427264777, "ang_err_cycle_deg": 8.303419873557312, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7884dbdb_seg0", "clip": "7884dbdb-248f-5865-8141-042bac5a77d8", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 17, "instruction": "Go to the yellow and black hazard sign on the right side of the road.", "destination": "the yellow and black hazard sign", "start_xy": [560, 670], "ang_err_namer_deg": 10.480314424001175, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7884dbdb_seg1", "clip": "7884dbdb-248f-5865-8141-042bac5a77d8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 19, "t_end": 33, "instruction": "Go to the area near the white car.", "destination": "the white car", "start_xy": [245, 634], "ang_err_namer_deg": 8.45745427264777, "ang_err_cycle_deg": 8.303419873557312, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "7884dbdb_seg0", "clip": "7884dbdb-248f-5865-8141-042bac5a77d8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/79/79177b80-99d9-5184-88a9-f554fc1597ba.json b/labels/outdoor/79/79177b80-99d9-5184-88a9-f554fc1597ba.json
index e6f87df31c2dfb653e70ad89c897aadea5f89d2b..e916f13724da267eb18840ad75e9fc1e2d891804 100644
--- a/labels/outdoor/79/79177b80-99d9-5184-88a9-f554fc1597ba.json
+++ b/labels/outdoor/79/79177b80-99d9-5184-88a9-f554fc1597ba.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the stone pillar near the grassy area.", "destination": "stone pillar", "start_xy": [625, 685], "ang_err_namer_deg": 8.826445555224598, "ang_err_cycle_deg": 8.681339043655514, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "79177b80_seg0", "clip": "79177b80-99d9-5184-88a9-f554fc1597ba", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the stone marker by the side of the road.", "destination": "stone marker", "start_xy": [427, 662], "ang_err_namer_deg": 9.797749059125598, "ang_err_cycle_deg": 8.472990023239745, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "79177b80_seg1", "clip": "79177b80-99d9-5184-88a9-f554fc1597ba", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the stone marker by the side of the road.", "destination": "stone marker", "start_xy": [427, 662], "ang_err_namer_deg": 9.797749059125598, "ang_err_cycle_deg": 8.472990023239745, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "79177b80_seg1", "clip": "79177b80-99d9-5184-88a9-f554fc1597ba", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/79/791c9ead-5548-59cb-a88f-40d23940248b.json b/labels/outdoor/79/791c9ead-5548-59cb-a88f-40d23940248b.json
index 5e1cc9d4748f5742091d83e61ad87a0af36ef574..ec1b0b9c4ba0c36b2d66c8e2351d1980f3cc24d1 100644
--- a/labels/outdoor/79/791c9ead-5548-59cb-a88f-40d23940248b.json
+++ b/labels/outdoor/79/791c9ead-5548-59cb-a88f-40d23940248b.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the railroad tracks.", "destination": "the area by the railroad tracks", "start_xy": [490, 700], "ang_err_namer_deg": 2.4668049875453044, "ang_err_cycle_deg": 2.2969877749990752, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "791c9ead_seg0", "clip": "791c9ead-5548-59cb-a88f-40d23940248b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area by the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [605, 425], "ang_err_namer_deg": 5.474714182180114, "ang_err_cycle_deg": 5.474714182180114, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "791c9ead_seg1", "clip": "791c9ead-5548-59cb-a88f-40d23940248b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the concrete electrical box by the tracks.", "destination": "the concrete electrical box", "start_xy": [745, 673], "ang_err_namer_deg": 8.751650522627372, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "791c9ead_seg2", "clip": "791c9ead-5548-59cb-a88f-40d23940248b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the area by the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [605, 425], "ang_err_namer_deg": 5.474714182180114, "ang_err_cycle_deg": 5.474714182180114, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "791c9ead_seg1", "clip": "791c9ead-5548-59cb-a88f-40d23940248b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/79/79f617c4-a8cc-56f2-a889-990fb32712bc.json b/labels/outdoor/79/79f617c4-a8cc-56f2-a889-990fb32712bc.json
index 37e809bbc95768036a562336adabcfed0ffd11ac..36e661deba69b6ef2123148fc4782c7417915ec2 100644
--- a/labels/outdoor/79/79f617c4-a8cc-56f2-a889-990fb32712bc.json
+++ b/labels/outdoor/79/79f617c4-a8cc-56f2-a889-990fb32712bc.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the warning sign on the rock wall.", "destination": "the warning sign on the rock wall", "start_xy": [482, 454], "ang_err_namer_deg": 0.786232106230099, "ang_err_cycle_deg": 9.384301069426227, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "79f617c4_seg0", "clip": "79f617c4-a8cc-56f2-a889-990fb32712bc", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the road sign labeled 'TF-21 km 39'.", "destination": "the road sign", "start_xy": [732, 448], "ang_err_namer_deg": 11.21466602560387, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "79f617c4_seg1", "clip": "79f617c4-a8cc-56f2-a889-990fb32712bc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 71, "instruction": "Go to the warning sign on the rock wall.", "destination": "the warning sign on the rock wall", "start_xy": [482, 454], "ang_err_namer_deg": 0.786232106230099, "ang_err_cycle_deg": 9.384301069426227, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "79f617c4_seg0", "clip": "79f617c4-a8cc-56f2-a889-990fb32712bc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7a/7ab8d6ed-214a-5dc7-a174-2ab0791934d3.json b/labels/outdoor/7a/7ab8d6ed-214a-5dc7-a174-2ab0791934d3.json
index 0bc6bd43c7cb36a9a96e90a91f2e7b26ccdae838..735ef0849c57f92cb288464e2751681dd5ab93c4 100644
--- a/labels/outdoor/7a/7ab8d6ed-214a-5dc7-a174-2ab0791934d3.json
+++ b/labels/outdoor/7a/7ab8d6ed-214a-5dc7-a174-2ab0791934d3.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the intersection with the large overhead sign.", "destination": "the area by the intersection with the large overhead sign", "start_xy": [558, 558], "ang_err_namer_deg": 7.447344211569277, "ang_err_cycle_deg": 5.91419834875062, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7ab8d6ed_seg0", "clip": "7ab8d6ed-214a-5dc7-a174-2ab0791934d3", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the building with the blue sign.", "destination": "building with the blue sign", "start_xy": [444, 425], "ang_err_namer_deg": 10.501641599654555, "ang_err_cycle_deg": 9.371481627709546, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "7ab8d6ed_seg1", "clip": "7ab8d6ed-214a-5dc7-a174-2ab0791934d3", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [583, 708], "ang_err_namer_deg": 6.054914589112742, "ang_err_cycle_deg": 9.996407493787178, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "7ab8d6ed_seg2", "clip": "7ab8d6ed-214a-5dc7-a174-2ab0791934d3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the intersection with the large overhead sign.", "destination": "the area by the intersection with the large overhead sign", "start_xy": [558, 558], "ang_err_namer_deg": 7.447344211569277, "ang_err_cycle_deg": 5.91419834875062, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7ab8d6ed_seg0", "clip": "7ab8d6ed-214a-5dc7-a174-2ab0791934d3", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [583, 708], "ang_err_namer_deg": 6.054914589112742, "ang_err_cycle_deg": 9.996407493787178, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "7ab8d6ed_seg2", "clip": "7ab8d6ed-214a-5dc7-a174-2ab0791934d3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7b/7b1cd494-bbad-5bb4-a33c-f2251c983c9c.json b/labels/outdoor/7b/7b1cd494-bbad-5bb4-a33c-f2251c983c9c.json
index 3f44a2acd2f6121a88d8f9842e2e9ea935b3ea31..bf54c681ea9f5555d6544f125ecdc3a8f8c2b9fe 100644
--- a/labels/outdoor/7b/7b1cd494-bbad-5bb4-a33c-f2251c983c9c.json
+++ b/labels/outdoor/7b/7b1cd494-bbad-5bb4-a33c-f2251c983c9c.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the sea stack pillar.", "destination": "the sea stack pillar", "start_xy": [194, 381], "ang_err_namer_deg": 0.7574419680937412, "ang_err_cycle_deg": 1.695200260809566, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "7b1cd494_seg0", "clip": "7b1cd494-bbad-5bb4-a33c-f2251c983c9c", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the rocky cliff edge.", "destination": "rocky cliff edge", "start_xy": [454, 420], "ang_err_namer_deg": 12.588622000424108, "ang_err_cycle_deg": 3.264087593171944, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7b1cd494_seg1", "clip": "7b1cd494-bbad-5bb4-a33c-f2251c983c9c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the rocky cliff edge.", "destination": "rocky cliff edge", "start_xy": [454, 420], "ang_err_namer_deg": 12.588622000424108, "ang_err_cycle_deg": 3.264087593171944, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "7b1cd494_seg1", "clip": "7b1cd494-bbad-5bb4-a33c-f2251c983c9c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7b/7b860a5d-8829-5e30-aee2-31d3f33298f0.json b/labels/outdoor/7b/7b860a5d-8829-5e30-aee2-31d3f33298f0.json
index 5e2f50cbe5a81978188788018a01717a48e2c231..40f54b99fde66f3e2a880dd04d814bbdfa517658 100644
--- a/labels/outdoor/7b/7b860a5d-8829-5e30-aee2-31d3f33298f0.json
+++ b/labels/outdoor/7b/7b860a5d-8829-5e30-aee2-31d3f33298f0.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area of the road where it curves near the trees.", "destination": "the curve in the road", "start_xy": [450, 550], "ang_err_namer_deg": 3.715306329580924, "ang_err_cycle_deg": 0.41177968006720894, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "7b860a5d_seg0", "clip": "7b860a5d-8829-5e30-aee2-31d3f33298f0", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the patch of dark pavement on the road.", "destination": "the patch of dark pavement on the road", "start_xy": [423, 574], "ang_err_namer_deg": 2.0856937495350434, "ang_err_cycle_deg": 7.675319905054435, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "7b860a5d_seg1", "clip": "7b860a5d-8829-5e30-aee2-31d3f33298f0", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [427, 553], "ang_err_namer_deg": 5.136421594294998, "ang_err_cycle_deg": 8.826533717531499, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "7b860a5d_seg2", "clip": "7b860a5d-8829-5e30-aee2-31d3f33298f0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 49, "instruction": "Go to the patch of dark pavement on the road.", "destination": "the patch of dark pavement on the road", "start_xy": [423, 574], "ang_err_namer_deg": 2.0856937495350434, "ang_err_cycle_deg": 7.675319905054435, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "7b860a5d_seg1", "clip": "7b860a5d-8829-5e30-aee2-31d3f33298f0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7c/7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812.json b/labels/outdoor/7c/7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812.json
index ba9e893b53fc9cc087f2e6f0db54b38931f5b8e6..6ffcb179689a366fb6fde16915bda3a13ea3c7e5 100644
--- a/labels/outdoor/7c/7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812.json
+++ b/labels/outdoor/7c/7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the building on the right side of the road.", "destination": "the building on the right side of the road", "start_xy": [458, 643], "ang_err_namer_deg": 6.135955806158923, "ang_err_cycle_deg": 6.135955806158923, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "7c1e27c5_seg0", "clip": "7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the 'BARRÊME' town sign.", "destination": "the BARRÊME town sign", "start_xy": [451, 637], "ang_err_namer_deg": 10.018699154524137, "ang_err_cycle_deg": 10.63065416127776, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "7c1e27c5_seg1", "clip": "7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the 'BARRÊME' town sign.", "destination": "the BARRÊME town sign", "start_xy": [451, 637], "ang_err_namer_deg": 10.018699154524137, "ang_err_cycle_deg": 10.63065416127776, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "7c1e27c5_seg1", "clip": "7c1e27c5-ae74-51f9-b1ce-b6f8c7d11812", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7c/7c795931-72aa-55cc-a6c1-4ec09bb49d66.json b/labels/outdoor/7c/7c795931-72aa-55cc-a6c1-4ec09bb49d66.json
index e76b6e5df862d98ec0e163df4456098d7a891069..dc4c9d533adc5d987a7ed6f54704e6e4f2e200ee 100644
--- a/labels/outdoor/7c/7c795931-72aa-55cc-a6c1-4ec09bb49d66.json
+++ b/labels/outdoor/7c/7c795931-72aa-55cc-a6c1-4ec09bb49d66.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the intersection near the pedestrian overpass.", "destination": "the intersection with the pedestrian overpass", "start_xy": [372, 643], "ang_err_namer_deg": 1.096525915008223, "ang_err_cycle_deg": 15.216144068839066, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "7c795931_seg0", "clip": "7c795931-72aa-55cc-a6c1-4ec09bb49d66", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the intersection area near the street signs and the building with the 'TBC' logo.", "destination": "the intersection near the 'TBC' sign and street signage", "start_xy": [300, 420], "ang_err_namer_deg": 12.530803575446164, "ang_err_cycle_deg": 10.732266526659314, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7c795931_seg1", "clip": "7c795931-72aa-55cc-a6c1-4ec09bb49d66", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the digital road sign on the left.", "destination": "the digital road sign on the left", "start_xy": [401, 432], "ang_err_namer_deg": 5.86541563215527, "ang_err_cycle_deg": 5.86541563215527, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "7c795931_seg2", "clip": "7c795931-72aa-55cc-a6c1-4ec09bb49d66", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the intersection area near the street signs and the building with the 'TBC' logo.", "destination": "the intersection near the 'TBC' sign and street signage", "start_xy": [300, 420], "ang_err_namer_deg": 12.530803575446164, "ang_err_cycle_deg": 10.732266526659314, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7c795931_seg1", "clip": "7c795931-72aa-55cc-a6c1-4ec09bb49d66", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the digital road sign on the left.", "destination": "the digital road sign on the left", "start_xy": [401, 432], "ang_err_namer_deg": 5.86541563215527, "ang_err_cycle_deg": 5.86541563215527, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "7c795931_seg2", "clip": "7c795931-72aa-55cc-a6c1-4ec09bb49d66", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7d/7dddcf25-99bd-589b-ae57-1403677de78a.json b/labels/outdoor/7d/7dddcf25-99bd-589b-ae57-1403677de78a.json
index a067a5e6886b4c82a99bab41c9fec1c4dac01388..dea44290a7ee6dad83f7f5c1b80be528d7c05777 100644
--- a/labels/outdoor/7d/7dddcf25-99bd-589b-ae57-1403677de78a.json
+++ b/labels/outdoor/7d/7dddcf25-99bd-589b-ae57-1403677de78a.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 55, "instruction": "Go to the area of the road where the tall, thin tree stands on the right side.", "destination": "the tall, thin tree on the right", "start_xy": [907, 662], "ang_err_namer_deg": 12.17032248596601, "ang_err_cycle_deg": 4.3452257064663655, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7dddcf25_seg0", "clip": "7dddcf25-99bd-589b-ae57-1403677de78a", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the area by the two tall, thin trees.", "destination": "the area by the two tall, thin trees", "start_xy": [585, 558], "ang_err_namer_deg": 7.790792965045381, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.689016666666666, "tier": "L", "id": "7dddcf25_seg1", "clip": "7dddcf25-99bd-589b-ae57-1403677de78a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 55, "instruction": "Go to the area of the road where the tall, thin tree stands on the right side.", "destination": "the tall, thin tree on the right", "start_xy": [907, 662], "ang_err_namer_deg": 12.17032248596601, "ang_err_cycle_deg": 4.3452257064663655, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "7dddcf25_seg0", "clip": "7dddcf25-99bd-589b-ae57-1403677de78a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/7f/7f17b6dc-708a-5825-ae70-faad6368ce19.json b/labels/outdoor/7f/7f17b6dc-708a-5825-ae70-faad6368ce19.json
index f93cb0957938e090f33c67148c17139f9009f80b..7a296c0776c8b67161519c656d3b8a0433aed90c 100644
--- a/labels/outdoor/7f/7f17b6dc-708a-5825-ae70-faad6368ce19.json
+++ b/labels/outdoor/7f/7f17b6dc-708a-5825-ae70-faad6368ce19.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 68, "instruction": "Go to the area behind the Lily truck parked at the intersection.", "destination": "the area behind the Lily truck", "start_xy": [585, 482], "ang_err_namer_deg": 11.375843505786653, "ang_err_cycle_deg": 1.8478528687178783, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "7f17b6dc_seg0", "clip": "7f17b6dc-708a-5825-ae70-faad6368ce19", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 49, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [485, 700], "ang_err_namer_deg": 5.202761130024005, "ang_err_cycle_deg": 1.4606026252437725, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "7f17b6dc_seg1", "clip": "7f17b6dc-708a-5825-ae70-faad6368ce19", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 17, "t_end": 49, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [485, 700], "ang_err_namer_deg": 5.202761130024005, "ang_err_cycle_deg": 1.4606026252437725, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "7f17b6dc_seg1", "clip": "7f17b6dc-708a-5825-ae70-faad6368ce19", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/81/81b55eda-bc29-50a5-9f5e-05a3a403d939.json b/labels/outdoor/81/81b55eda-bc29-50a5-9f5e-05a3a403d939.json
index 91f522b6861c2cb79d1ebfcfc469aad7c1bdb063..52a03770bc5929a82631fc8d72bf0f39a4be8e8d 100644
--- a/labels/outdoor/81/81b55eda-bc29-50a5-9f5e-05a3a403d939.json
+++ b/labels/outdoor/81/81b55eda-bc29-50a5-9f5e-05a3a403d939.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 58, "instruction": "Go to the wooden house with the external staircase.", "destination": "the wooden house with the external staircase", "start_xy": [482, 558], "ang_err_namer_deg": 1.7196859619605613, "ang_err_cycle_deg": 13.147470041367333, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "81b55eda_seg0", "clip": "81b55eda-bc29-50a5-9f5e-05a3a403d939", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 24, "instruction": "Go to the wooden cabin at the end of the path.", "destination": "wooden cabin", "start_xy": [482, 427], "ang_err_namer_deg": 4.388663533696774, "ang_err_cycle_deg": 3.7322431860692036, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "81b55eda_seg1", "clip": "81b55eda-bc29-50a5-9f5e-05a3a403d939", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 26, "t_end": 58, "instruction": "Go to the wooden house with the external staircase.", "destination": "the wooden house with the external staircase", "start_xy": [482, 558], "ang_err_namer_deg": 1.7196859619605613, "ang_err_cycle_deg": 13.147470041367333, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "81b55eda_seg0", "clip": "81b55eda-bc29-50a5-9f5e-05a3a403d939", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/82/8200a43d-fd8e-5cff-9c0d-75f38a939d43.json b/labels/outdoor/82/8200a43d-fd8e-5cff-9c0d-75f38a939d43.json
index 02a72c1641d1ae3a9b348cc42147338382e08ad9..588ec2d94a38f19551aa6f20f07de7ba9231d2d3 100644
--- a/labels/outdoor/82/8200a43d-fd8e-5cff-9c0d-75f38a939d43.json
+++ b/labels/outdoor/82/8200a43d-fd8e-5cff-9c0d-75f38a939d43.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the utility pole on the right.", "destination": "utility pole", "start_xy": [578, 579], "ang_err_namer_deg": 10.177836289980274, "ang_err_cycle_deg": 10.313572417585165, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8200a43d_seg0", "clip": "8200a43d-fd8e-5cff-9c0d-75f38a939d43", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the yellow triangular sign by the tracks.", "destination": "the yellow triangular sign", "start_xy": [472, 498], "ang_err_namer_deg": 10.087930946191724, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8200a43d_seg1", "clip": "8200a43d-fd8e-5cff-9c0d-75f38a939d43", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the utility pole on the right.", "destination": "utility pole", "start_xy": [578, 579], "ang_err_namer_deg": 10.177836289980274, "ang_err_cycle_deg": 10.313572417585165, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8200a43d_seg0", "clip": "8200a43d-fd8e-5cff-9c0d-75f38a939d43", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/82/824efb8b-60f8-5500-96ac-9e9b4e105755.json b/labels/outdoor/82/824efb8b-60f8-5500-96ac-9e9b4e105755.json
index 03454699c3eed459da3ead246194b71610c6ecc4..267eb73befa6825b8f5847563dfecd6516f25de0 100644
--- a/labels/outdoor/82/824efb8b-60f8-5500-96ac-9e9b4e105755.json
+++ b/labels/outdoor/82/824efb8b-60f8-5500-96ac-9e9b4e105755.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the area by the white road marker on the left.", "destination": "the white road marker on the left", "start_xy": [339, 643], "ang_err_namer_deg": 7.383488910363161, "ang_err_cycle_deg": 5.396200474268689, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "824efb8b_seg0", "clip": "824efb8b-60f8-5500-96ac-9e9b4e105755", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 34, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [334, 551], "ang_err_namer_deg": 3.9847680050775667, "ang_err_cycle_deg": 3.8614726458883286, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "824efb8b_seg1", "clip": "824efb8b-60f8-5500-96ac-9e9b4e105755", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the area by the yellow road sign.", "destination": "the area by the yellow road sign", "start_xy": [160, 550], "ang_err_namer_deg": 7.8548872741628974, "ang_err_cycle_deg": 7.966308461884271, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "824efb8b_seg2", "clip": "824efb8b-60f8-5500-96ac-9e9b4e105755", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 71, "instruction": "Go to the area by the white road marker on the left.", "destination": "the white road marker on the left", "start_xy": [339, 643], "ang_err_namer_deg": 7.383488910363161, "ang_err_cycle_deg": 5.396200474268689, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "824efb8b_seg0", "clip": "824efb8b-60f8-5500-96ac-9e9b4e105755", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the area by the yellow road sign.", "destination": "the area by the yellow road sign", "start_xy": [160, 550], "ang_err_namer_deg": 7.8548872741628974, "ang_err_cycle_deg": 7.966308461884271, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "824efb8b_seg2", "clip": "824efb8b-60f8-5500-96ac-9e9b4e105755", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/82/82523cee-4b13-5e4c-a9ae-89b7b798315a.json b/labels/outdoor/82/82523cee-4b13-5e4c-a9ae-89b7b798315a.json
index 8740f81873b5f9d5ef33370812641e66791d5b85..0658554b8223cc07b9c83485206d3c8b7f72a696 100644
--- a/labels/outdoor/82/82523cee-4b13-5e4c-a9ae-89b7b798315a.json
+++ b/labels/outdoor/82/82523cee-4b13-5e4c-a9ae-89b7b798315a.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign with the sharp curve indicator.", "destination": "the road sign with the sharp curve indicator", "start_xy": [545, 673], "ang_err_namer_deg": 3.1339335167558837, "ang_err_cycle_deg": 3.202149277518954, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "82523cee_seg0", "clip": "82523cee-4b13-5e4c-a9ae-89b7b798315a", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the small building by the road.", "destination": "small building", "start_xy": [612, 677], "ang_err_namer_deg": 1.3479773817621203, "ang_err_cycle_deg": 1.3479773817621203, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "82523cee_seg1", "clip": "82523cee-4b13-5e4c-a9ae-89b7b798315a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign with the sharp curve indicator.", "destination": "the road sign with the sharp curve indicator", "start_xy": [545, 673], "ang_err_namer_deg": 3.1339335167558837, "ang_err_cycle_deg": 3.202149277518954, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "82523cee_seg0", "clip": "82523cee-4b13-5e4c-a9ae-89b7b798315a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/82/82a531b6-2e47-51f1-987a-b0ccc20d07b1.json b/labels/outdoor/82/82a531b6-2e47-51f1-987a-b0ccc20d07b1.json
index ba8dd6acb72866cfeae557cef0e829af69b2d758..d5159f1c48d48e66db496a7d813b3ae2faaee508 100644
--- a/labels/outdoor/82/82a531b6-2e47-51f1-987a-b0ccc20d07b1.json
+++ b/labels/outdoor/82/82a531b6-2e47-51f1-987a-b0ccc20d07b1.json
@@ -1 +1 @@
-[{"t0": 12, "t_end": 44, "instruction": "Go to the area with the bank columns.", "destination": "the area with the bank columns", "start_xy": [750, 300], "ang_err_namer_deg": 13.056529318248783, "ang_err_cycle_deg": 7.509510525173016, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "82a531b6_seg0", "clip": "82a531b6-2e47-51f1-987a-b0ccc20d07b1", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the green mailbox.", "destination": "green mailbox", "start_xy": [154, 517], "ang_err_namer_deg": 6.891571292758899, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "82a531b6_seg1", "clip": "82a531b6-2e47-51f1-987a-b0ccc20d07b1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 12, "t_end": 44, "instruction": "Go to the area with the bank columns.", "destination": "the area with the bank columns", "start_xy": [750, 300], "ang_err_namer_deg": 13.056529318248783, "ang_err_cycle_deg": 7.509510525173016, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "82a531b6_seg0", "clip": "82a531b6-2e47-51f1-987a-b0ccc20d07b1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/82/82f28aea-a78e-574f-a659-70502be90786.json b/labels/outdoor/82/82f28aea-a78e-574f-a659-70502be90786.json
index 1c21a1ce7812938e0d3993b86946113d54dbe5d0..c851f61cd574a3ff1cf647f3f575825cc1f762b6 100644
--- a/labels/outdoor/82/82f28aea-a78e-574f-a659-70502be90786.json
+++ b/labels/outdoor/82/82f28aea-a78e-574f-a659-70502be90786.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the G351 road sign.", "destination": "the G351 road sign", "start_xy": [597, 686], "ang_err_namer_deg": 1.4962794229378196, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "82f28aea_seg0", "clip": "82f28aea-a78e-574f-a659-70502be90786", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 30, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [484, 622], "ang_err_namer_deg": 4.671525721915522, "ang_err_cycle_deg": 4.428903212490173, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "82f28aea_seg1", "clip": "82f28aea-a78e-574f-a659-70502be90786", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 15, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [622, 551], "ang_err_namer_deg": 10.211952986894202, "ang_err_cycle_deg": 9.424238035702738, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "82f28aea_seg2", "clip": "82f28aea-a78e-574f-a659-70502be90786", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 17, "t_end": 30, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [484, 622], "ang_err_namer_deg": 4.671525721915522, "ang_err_cycle_deg": 4.428903212490173, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "82f28aea_seg1", "clip": "82f28aea-a78e-574f-a659-70502be90786", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 15, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [622, 551], "ang_err_namer_deg": 10.211952986894202, "ang_err_cycle_deg": 9.424238035702738, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "82f28aea_seg2", "clip": "82f28aea-a78e-574f-a659-70502be90786", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/84/84a12b65-34f7-51cd-97b9-ebc2c11ed15e.json b/labels/outdoor/84/84a12b65-34f7-51cd-97b9-ebc2c11ed15e.json
index e1c177d4552af7499a2b84d8012253d4ad6d9f35..013f2710949e5d058085071b4156c82ba2eb444c 100644
--- a/labels/outdoor/84/84a12b65-34f7-51cd-97b9-ebc2c11ed15e.json
+++ b/labels/outdoor/84/84a12b65-34f7-51cd-97b9-ebc2c11ed15e.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the Coop store.", "destination": "the Coop store", "start_xy": [191, 557], "ang_err_namer_deg": 9.29303159102279, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "84a12b65_seg0", "clip": "84a12b65-34f7-51cd-97b9-ebc2c11ed15e", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the corner of the grey building.", "destination": "the corner of the grey building", "start_xy": [654, 574], "ang_err_namer_deg": 8.319969113914409, "ang_err_cycle_deg": 10.097772325120884, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "84a12b65_seg1", "clip": "84a12b65-34f7-51cd-97b9-ebc2c11ed15e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the building with the tall metal structure.", "destination": "the area by the building with the tall metal structure", "start_xy": [490, 485], "ang_err_namer_deg": 0.13805184163040154, "ang_err_cycle_deg": 0.46728496366899147, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "84a12b65_seg2", "clip": "84a12b65-34f7-51cd-97b9-ebc2c11ed15e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the corner of the grey building.", "destination": "the corner of the grey building", "start_xy": [654, 574], "ang_err_namer_deg": 8.319969113914409, "ang_err_cycle_deg": 10.097772325120884, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "84a12b65_seg1", "clip": "84a12b65-34f7-51cd-97b9-ebc2c11ed15e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the building with the tall metal structure.", "destination": "the area by the building with the tall metal structure", "start_xy": [490, 485], "ang_err_namer_deg": 0.13805184163040154, "ang_err_cycle_deg": 0.46728496366899147, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "84a12b65_seg2", "clip": "84a12b65-34f7-51cd-97b9-ebc2c11ed15e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/85/851a227c-b56e-5f48-994a-172fe81cca8e.json b/labels/outdoor/85/851a227c-b56e-5f48-994a-172fe81cca8e.json
index ac9c8935195f17826bf3a6f4455dd6cd8c50a611..780dde9221a42dae55e7fc2944ca997d34a0ef6b 100644
--- a/labels/outdoor/85/851a227c-b56e-5f48-994a-172fe81cca8e.json
+++ b/labels/outdoor/85/851a227c-b56e-5f48-994a-172fe81cca8e.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the rock formation.", "destination": "the rock formation", "start_xy": [648, 515], "ang_err_namer_deg": 2.6327240191563823, "ang_err_cycle_deg": 4.149451575265382, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "851a227c_seg0", "clip": "851a227c-b56e-5f48-994a-172fe81cca8e", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the rock formation along the road.", "destination": "the rock formation along the road", "start_xy": [516, 634], "ang_err_namer_deg": 1.4284416461363703, "ang_err_cycle_deg": 2.171867442503124, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "851a227c_seg1", "clip": "851a227c-b56e-5f48-994a-172fe81cca8e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the rocky cliff and curve in the road.", "destination": "the rocky cliff and curve in the road", "start_xy": [450, 450], "ang_err_namer_deg": 6.502181872778271, "ang_err_cycle_deg": 1.0476488909724468, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "851a227c_seg2", "clip": "851a227c-b56e-5f48-994a-172fe81cca8e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the area by the rocky cliff and curve in the road.", "destination": "the rocky cliff and curve in the road", "start_xy": [450, 450], "ang_err_namer_deg": 6.502181872778271, "ang_err_cycle_deg": 1.0476488909724468, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "851a227c_seg2", "clip": "851a227c-b56e-5f48-994a-172fe81cca8e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/85/85439dfa-e577-5ef1-b4b2-61fe5c53e3a3.json b/labels/outdoor/85/85439dfa-e577-5ef1-b4b2-61fe5c53e3a3.json
index 19bd163dfc955967b7ee0f2399c570a346f4b37b..8bb2884411b25f81743447dc956ae664c3aeda46 100644
--- a/labels/outdoor/85/85439dfa-e577-5ef1-b4b2-61fe5c53e3a3.json
+++ b/labels/outdoor/85/85439dfa-e577-5ef1-b4b2-61fe5c53e3a3.json
@@ -1 +1 @@
-[{"t0": 17, "t_end": 31, "instruction": "Go to the Dairy Hill shop corner.", "destination": "the Dairy Hill shop corner", "start_xy": [583, 505], "ang_err_namer_deg": 0.7683873706444646, "ang_err_cycle_deg": 0.5906918238140106, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "85439dfa_seg0", "clip": "85439dfa-e577-5ef1-b4b2-61fe5c53e3a3", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 15, "instruction": "Go to the Dairy Hill sign.", "destination": "the Dairy Hill sign", "start_xy": [579, 516], "ang_err_namer_deg": 3.634814451937337, "ang_err_cycle_deg": 3.1892650545639496, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "85439dfa_seg1", "clip": "85439dfa-e577-5ef1-b4b2-61fe5c53e3a3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 17, "t_end": 31, "instruction": "Go to the Dairy Hill shop corner.", "destination": "the Dairy Hill shop corner", "start_xy": [583, 505], "ang_err_namer_deg": 0.7683873706444646, "ang_err_cycle_deg": 0.5906918238140106, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "85439dfa_seg0", "clip": "85439dfa-e577-5ef1-b4b2-61fe5c53e3a3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/86/868e2a4a-dbcf-5cc2-a7bc-9caf96437976.json b/labels/outdoor/86/868e2a4a-dbcf-5cc2-a7bc-9caf96437976.json
index 281b09ece6eb837a753de7d2988d9dff46c1451f..d20790962efc7c9fa7c5a5f1500069b4a1e6ef6a 100644
--- a/labels/outdoor/86/868e2a4a-dbcf-5cc2-a7bc-9caf96437976.json
+++ b/labels/outdoor/86/868e2a4a-dbcf-5cc2-a7bc-9caf96437976.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 81, "instruction": "Go to the area with the white sign near the forest edge.", "destination": "the area with the white sign", "start_xy": [956, 397], "ang_err_namer_deg": 4.178899297428914, "ang_err_cycle_deg": 4.296812083466586, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016666666666, "tier": "L", "id": "868e2a4a_seg0", "clip": "868e2a4a-dbcf-5cc2-a7bc-9caf96437976", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 38, "instruction": "Go to the road sign on the left curve.", "destination": "the road sign on the left curve", "start_xy": [328, 506], "ang_err_namer_deg": 6.317019010443563, "ang_err_cycle_deg": 6.0699457227367395, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "868e2a4a_seg1", "clip": "868e2a4a-dbcf-5cc2-a7bc-9caf96437976", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 38, "instruction": "Go to the road sign on the left curve.", "destination": "the road sign on the left curve", "start_xy": [328, 506], "ang_err_namer_deg": 6.317019010443563, "ang_err_cycle_deg": 6.0699457227367395, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "868e2a4a_seg1", "clip": "868e2a4a-dbcf-5cc2-a7bc-9caf96437976", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/86/86fd2b21-6614-5ac1-b4a1-a927e97b2ada.json b/labels/outdoor/86/86fd2b21-6614-5ac1-b4a1-a927e97b2ada.json
index 432cc47e2e8dcf0df2609fa5223ab7a1f6df7778..c9c618a9f3c01b9615564ae88ea38624ed967176 100644
--- a/labels/outdoor/86/86fd2b21-6614-5ac1-b4a1-a927e97b2ada.json
+++ b/labels/outdoor/86/86fd2b21-6614-5ac1-b4a1-a927e97b2ada.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the round sign by the lamppost.", "destination": "the round sign", "start_xy": [427, 425], "ang_err_namer_deg": 5.169230368859909, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "86fd2b21_seg0", "clip": "86fd2b21-6614-5ac1-b4a1-a927e97b2ada", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the street light pole on the side of the road.", "destination": "the street light pole", "start_xy": [483, 574], "ang_err_namer_deg": 6.639240228233441, "ang_err_cycle_deg": 6.715932353246721, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "86fd2b21_seg1", "clip": "86fd2b21-6614-5ac1-b4a1-a927e97b2ada", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the street light pole on the side of the road.", "destination": "the street light pole", "start_xy": [483, 574], "ang_err_namer_deg": 6.639240228233441, "ang_err_cycle_deg": 6.715932353246721, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "86fd2b21_seg1", "clip": "86fd2b21-6614-5ac1-b4a1-a927e97b2ada", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/87/8704e838-9b5b-55f4-a966-6292695878c8.json b/labels/outdoor/87/8704e838-9b5b-55f4-a966-6292695878c8.json
index 7579b222b96c56ef2b76f4c2edde49c9aed9b731..74eb3647563cb842a874bdc22e2016a7f9f80a1a 100644
--- a/labels/outdoor/87/8704e838-9b5b-55f4-a966-6292695878c8.json
+++ b/labels/outdoor/87/8704e838-9b5b-55f4-a966-6292695878c8.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 61, "instruction": "Go to the end of the railway tracks.", "destination": "the end of the railway tracks", "start_xy": [512, 500], "ang_err_namer_deg": 6.9737994767947376, "ang_err_cycle_deg": 1.3879915305666854, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "8704e838_seg0", "clip": "8704e838-9b5b-55f4-a966-6292695878c8", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 40, "instruction": "Go to the area along the train tracks near the green hillside.", "destination": "the area along the train tracks", "start_xy": [560, 510], "ang_err_namer_deg": 3.287410990515176, "ang_err_cycle_deg": 1.2692323573943078, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8704e838_seg1", "clip": "8704e838-9b5b-55f4-a966-6292695878c8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 5, "t_end": 40, "instruction": "Go to the area along the train tracks near the green hillside.", "destination": "the area along the train tracks", "start_xy": [560, 510], "ang_err_namer_deg": 3.287410990515176, "ang_err_cycle_deg": 1.2692323573943078, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8704e838_seg1", "clip": "8704e838-9b5b-55f4-a966-6292695878c8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/87/87995311-bfa4-5b12-a026-5c191d145794.json b/labels/outdoor/87/87995311-bfa4-5b12-a026-5c191d145794.json
index 45c9128c3da36baebe07d96e152658c6826c9fef..b47f0ef85934a6fd5c8a5428601b724785fba94e 100644
--- a/labels/outdoor/87/87995311-bfa4-5b12-a026-5c191d145794.json
+++ b/labels/outdoor/87/87995311-bfa4-5b12-a026-5c191d145794.json
@@ -1 +1 @@
-[{"t0": 20, "t_end": 58, "instruction": "Go to the area with the construction barricades on the left.", "destination": "the area with the construction barricades on the left", "start_xy": [371, 662], "ang_err_namer_deg": 8.762241663255217, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "87995311_seg0", "clip": "87995311-bfa4-5b12-a026-5c191d145794", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 18, "instruction": "Go to the digital display sign.", "destination": "digital display sign", "start_xy": [352, 591], "ang_err_namer_deg": 8.822434252760273, "ang_err_cycle_deg": 8.756475996552103, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "87995311_seg1", "clip": "87995311-bfa4-5b12-a026-5c191d145794", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 18, "instruction": "Go to the digital display sign.", "destination": "digital display sign", "start_xy": [352, 591], "ang_err_namer_deg": 8.822434252760273, "ang_err_cycle_deg": 8.756475996552103, "confidence": "A", "arrival_ok": true, "duration_s": 2.6693333333333333, "tier": "S", "id": "87995311_seg1", "clip": "87995311-bfa4-5b12-a026-5c191d145794", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/87/87c7c43b-7201-57de-9282-2570b675b959.json b/labels/outdoor/87/87c7c43b-7201-57de-9282-2570b675b959.json
index 5beccba0081e5aec7f0b95c8864439bdbde3518d..f4e96ccbc51ebcaea9b1113cff8dbd3b3cf5496b 100644
--- a/labels/outdoor/87/87c7c43b-7201-57de-9282-2570b675b959.json
+++ b/labels/outdoor/87/87c7c43b-7201-57de-9282-2570b675b959.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the blue truck.", "destination": "blue truck", "start_xy": [642, 639], "ang_err_namer_deg": 2.0462951434833054, "ang_err_cycle_deg": 1.8955726963353658, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "87c7c43b_seg0", "clip": "87c7c43b-7201-57de-9282-2570b675b959", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the tree on the right side of the road.", "destination": "the tree on the right side of the road", "start_xy": [780, 590], "ang_err_namer_deg": 9.91808135374584, "ang_err_cycle_deg": 2.2927734008141565, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "87c7c43b_seg1", "clip": "87c7c43b-7201-57de-9282-2570b675b959", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the 30 km/h speed limit sign.", "destination": "the 30 km/h speed limit sign", "start_xy": [625, 569], "ang_err_namer_deg": 6.584383688940386, "ang_err_cycle_deg": 6.584383688940386, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "87c7c43b_seg2", "clip": "87c7c43b-7201-57de-9282-2570b675b959", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the tree on the right side of the road.", "destination": "the tree on the right side of the road", "start_xy": [780, 590], "ang_err_namer_deg": 9.91808135374584, "ang_err_cycle_deg": 2.2927734008141565, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "87c7c43b_seg1", "clip": "87c7c43b-7201-57de-9282-2570b675b959", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/88/8868195c-4330-513f-bab5-9e3bc5e6a887.json b/labels/outdoor/88/8868195c-4330-513f-bab5-9e3bc5e6a887.json
index 24a32a47390b67fbdaa737cb548bdf27b80828a5..db64760a1ad4af3dcc4ebc80097e40e35c1767a3 100644
--- a/labels/outdoor/88/8868195c-4330-513f-bab5-9e3bc5e6a887.json
+++ b/labels/outdoor/88/8868195c-4330-513f-bab5-9e3bc5e6a887.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the bridge in the distance.", "destination": "the bridge", "start_xy": [462, 639], "ang_err_namer_deg": 2.420967959195919, "ang_err_cycle_deg": 2.3327660161029926, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "8868195c_seg0", "clip": "8868195c-4330-513f-bab5-9e3bc5e6a887", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the bridge guardrail.", "destination": "the bridge guardrail", "start_xy": [786, 579], "ang_err_namer_deg": 2.527015801254542, "ang_err_cycle_deg": 4.063414909224094, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "8868195c_seg1", "clip": "8868195c-4330-513f-bab5-9e3bc5e6a887", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [532, 571], "ang_err_namer_deg": 12.3560070042632, "ang_err_cycle_deg": 12.3560070042632, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "8868195c_seg2", "clip": "8868195c-4330-513f-bab5-9e3bc5e6a887", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the rock formation on the hillside.", "destination": "the rock formation on the hillside", "start_xy": [484, 427], "ang_err_namer_deg": 13.716030835896593, "ang_err_cycle_deg": 9.999968536748925, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "8868195c_seg3", "clip": "8868195c-4330-513f-bab5-9e3bc5e6a887", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 23, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [532, 571], "ang_err_namer_deg": 12.3560070042632, "ang_err_cycle_deg": 12.3560070042632, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "8868195c_seg2", "clip": "8868195c-4330-513f-bab5-9e3bc5e6a887", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/88/88af1604-5e62-564b-9e6c-c375a2a7f187.json b/labels/outdoor/88/88af1604-5e62-564b-9e6c-c375a2a7f187.json
index 2c7984cb2b81a413d01912a14cf4970d051e3456..4151aba8a76f439f1f60f58c9c79da7a892164d6 100644
--- a/labels/outdoor/88/88af1604-5e62-564b-9e6c-c375a2a7f187.json
+++ b/labels/outdoor/88/88af1604-5e62-564b-9e6c-c375a2a7f187.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the bus stop sign.", "destination": "the bus stop sign", "start_xy": [903, 709], "ang_err_namer_deg": 0.7634035974118988, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "88af1604_seg0", "clip": "88af1604-5e62-564b-9e6c-c375a2a7f187", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area by the silver van parked near the tree.", "destination": "the area by the silver van parked near the tree", "start_xy": [485, 555], "ang_err_namer_deg": 13.31687721578515, "ang_err_cycle_deg": 20.01641336236224, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "88af1604_seg1", "clip": "88af1604-5e62-564b-9e6c-c375a2a7f187", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the white car parked on the right side of the road.", "destination": "the white car", "start_xy": [759, 725], "ang_err_namer_deg": 11.550934902417795, "ang_err_cycle_deg": 5.104006105484587, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "88af1604_seg2", "clip": "88af1604-5e62-564b-9e6c-c375a2a7f187", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the white car parked on the right side of the road.", "destination": "the white car", "start_xy": [759, 725], "ang_err_namer_deg": 11.550934902417795, "ang_err_cycle_deg": 5.104006105484587, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "88af1604_seg2", "clip": "88af1604-5e62-564b-9e6c-c375a2a7f187", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/89/89734040-9a04-58da-9a20-920965df08ed.json b/labels/outdoor/89/89734040-9a04-58da-9a20-920965df08ed.json
index 2ba773325f384fe8cd1c8892a2f4cadd76ea949f..9ccd338ce60f9bf74008128c7513a78e49abb088 100644
--- a/labels/outdoor/89/89734040-9a04-58da-9a20-920965df08ed.json
+++ b/labels/outdoor/89/89734040-9a04-58da-9a20-920965df08ed.json
@@ -1 +1 @@
-[{"t0": 28, "t_end": 63, "instruction": "Go to the car parked on the side of the road.", "destination": "the car parked on the side of the road", "start_xy": [218, 645], "ang_err_namer_deg": 4.117142332242507, "ang_err_cycle_deg": 4.782883865147369, "confidence": "B", "arrival_ok": false, "duration_s": 6.422158315534806, "tier": "L", "id": "89734040_seg0", "clip": "89734040-9a04-58da-9a20-920965df08ed", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 26, "instruction": "Go to the house.", "destination": "the house", "start_xy": [551, 646], "ang_err_namer_deg": 2.779516562092475, "ang_err_cycle_deg": 2.678413939579694, "confidence": "A", "arrival_ok": true, "duration_s": 4.220275464494301, "tier": "M", "id": "89734040_seg1", "clip": "89734040-9a04-58da-9a20-920965df08ed", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 26, "instruction": "Go to the house.", "destination": "the house", "start_xy": [551, 646], "ang_err_namer_deg": 2.779516562092475, "ang_err_cycle_deg": 2.678413939579694, "confidence": "A", "arrival_ok": true, "duration_s": 4.220275464494301, "tier": "M", "id": "89734040_seg1", "clip": "89734040-9a04-58da-9a20-920965df08ed", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/89/89811a0a-cef9-5d7c-88b9-0335e960fffe.json b/labels/outdoor/89/89811a0a-cef9-5d7c-88b9-0335e960fffe.json
index 9b6fad406d01b9cee00343a322b82c70f446c405..4a294d35e3e974f2a81678d5d974f0690ef34696 100644
--- a/labels/outdoor/89/89811a0a-cef9-5d7c-88b9-0335e960fffe.json
+++ b/labels/outdoor/89/89811a0a-cef9-5d7c-88b9-0335e960fffe.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the small building on the right side of the tracks.", "destination": "the small building", "start_xy": [605, 554], "ang_err_namer_deg": 5.0574366260358055, "ang_err_cycle_deg": 4.796634416760354, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "89811a0a_seg0", "clip": "89811a0a-cef9-5d7c-88b9-0335e960fffe", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the train tracks near the mountain range.", "destination": "the train tracks near the mountain range", "start_xy": [485, 559], "ang_err_namer_deg": 4.170876278667844, "ang_err_cycle_deg": 4.038667052685307, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "89811a0a_seg1", "clip": "89811a0a-cef9-5d7c-88b9-0335e960fffe", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the metal utility pole located along the train tracks.", "destination": "the metal utility pole", "start_xy": [412, 427], "ang_err_namer_deg": 7.060775273690055, "ang_err_cycle_deg": 7.060775273690055, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "89811a0a_seg2", "clip": "89811a0a-cef9-5d7c-88b9-0335e960fffe", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 45, "instruction": "Go to the train tracks near the mountain range.", "destination": "the train tracks near the mountain range", "start_xy": [485, 559], "ang_err_namer_deg": 4.170876278667844, "ang_err_cycle_deg": 4.038667052685307, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "89811a0a_seg1", "clip": "89811a0a-cef9-5d7c-88b9-0335e960fffe", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the metal utility pole located along the train tracks.", "destination": "the metal utility pole", "start_xy": [412, 427], "ang_err_namer_deg": 7.060775273690055, "ang_err_cycle_deg": 7.060775273690055, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "89811a0a_seg2", "clip": "89811a0a-cef9-5d7c-88b9-0335e960fffe", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/89/89ad5fa9-87b3-5ab1-ac4c-03390a54adf6.json b/labels/outdoor/89/89ad5fa9-87b3-5ab1-ac4c-03390a54adf6.json
index 8bbdf07cf5ff549349bdc22bc15067944b640f99..059d5d8d78350365b56eba521d97a1074397366b 100644
--- a/labels/outdoor/89/89ad5fa9-87b3-5ab1-ac4c-03390a54adf6.json
+++ b/labels/outdoor/89/89ad5fa9-87b3-5ab1-ac4c-03390a54adf6.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area along the road between the trees.", "destination": "the area along the road between the trees", "start_xy": [500, 700], "ang_err_namer_deg": 0.06203616474324131, "ang_err_cycle_deg": 0.8307159286171898, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "89ad5fa9_seg0", "clip": "89ad5fa9-87b3-5ab1-ac4c-03390a54adf6", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area of the road lined with trees.", "destination": "the area of the road lined with trees", "start_xy": [500, 700], "ang_err_namer_deg": 10.535634684635948, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "89ad5fa9_seg1", "clip": "89ad5fa9-87b3-5ab1-ac4c-03390a54adf6", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 23, "instruction": "Go to the round traffic sign on the left.", "destination": "the round traffic sign on the left", "start_xy": [397, 444], "ang_err_namer_deg": 7.321202319691438, "ang_err_cycle_deg": 3.7127410749963525, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "89ad5fa9_seg2", "clip": "89ad5fa9-87b3-5ab1-ac4c-03390a54adf6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 23, "instruction": "Go to the round traffic sign on the left.", "destination": "the round traffic sign on the left", "start_xy": [397, 444], "ang_err_namer_deg": 7.321202319691438, "ang_err_cycle_deg": 3.7127410749963525, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "89ad5fa9_seg2", "clip": "89ad5fa9-87b3-5ab1-ac4c-03390a54adf6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/89/89ea744a-2ced-5ade-9c9f-187157fa06a1.json b/labels/outdoor/89/89ea744a-2ced-5ade-9c9f-187157fa06a1.json
index bcfb10e7f9dbc25841806610fe580ea81581b0f6..eeabbcb5ba385b01660afc10f7e773d6ba8307ca 100644
--- a/labels/outdoor/89/89ea744a-2ced-5ade-9c9f-187157fa06a1.json
+++ b/labels/outdoor/89/89ea744a-2ced-5ade-9c9f-187157fa06a1.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the blue-roofed buildings by the river.", "destination": "the blue-roofed buildings", "start_xy": [75, 625], "ang_err_namer_deg": 12.01358730557614, "ang_err_cycle_deg": 15.135844872635907, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "89ea744a_seg0", "clip": "89ea744a-2ced-5ade-9c9f-187157fa06a1", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area of the road where it curves near the forested mountainside.", "destination": "the curve in the road", "start_xy": [379, 665], "ang_err_namer_deg": 7.168360486189014, "ang_err_cycle_deg": 3.592133216612753, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "89ea744a_seg1", "clip": "89ea744a-2ced-5ade-9c9f-187157fa06a1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area of the road where it curves near the forested mountainside.", "destination": "the curve in the road", "start_xy": [379, 665], "ang_err_namer_deg": 7.168360486189014, "ang_err_cycle_deg": 3.592133216612753, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "89ea744a_seg1", "clip": "89ea744a-2ced-5ade-9c9f-187157fa06a1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8b/8b1622ac-b228-5e41-8282-b50fdf5d7c25.json b/labels/outdoor/8b/8b1622ac-b228-5e41-8282-b50fdf5d7c25.json
index d15cca48a2ee82ec68c0152237e3b0b351c57ce7..26ffd4638ef77e3bf4540962b65a08815255175f 100644
--- a/labels/outdoor/8b/8b1622ac-b228-5e41-8282-b50fdf5d7c25.json
+++ b/labels/outdoor/8b/8b1622ac-b228-5e41-8282-b50fdf5d7c25.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the area behind the truck.", "destination": "the area behind the truck", "start_xy": [498, 757], "ang_err_namer_deg": 1.9356250396522416, "ang_err_cycle_deg": 3.1172430744936803, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "8b1622ac_seg0", "clip": "8b1622ac-b228-5e41-8282-b50fdf5d7c25", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the area with the no-entry sign.", "destination": "the area with the no-entry sign", "start_xy": [405, 612], "ang_err_namer_deg": 6.861406821638166, "ang_err_cycle_deg": 6.281094301645716, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8b1622ac_seg1", "clip": "8b1622ac-b228-5e41-8282-b50fdf5d7c25", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the area by the yellow bus.", "destination": "the yellow bus", "start_xy": [686, 685], "ang_err_namer_deg": 13.548461982845424, "ang_err_cycle_deg": 13.155161660310448, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "8b1622ac_seg2", "clip": "8b1622ac-b228-5e41-8282-b50fdf5d7c25", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 28, "t_end": 45, "instruction": "Go to the area with the no-entry sign.", "destination": "the area with the no-entry sign", "start_xy": [405, 612], "ang_err_namer_deg": 6.861406821638166, "ang_err_cycle_deg": 6.281094301645716, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8b1622ac_seg1", "clip": "8b1622ac-b228-5e41-8282-b50fdf5d7c25", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the area by the yellow bus.", "destination": "the yellow bus", "start_xy": [686, 685], "ang_err_namer_deg": 13.548461982845424, "ang_err_cycle_deg": 13.155161660310448, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "8b1622ac_seg2", "clip": "8b1622ac-b228-5e41-8282-b50fdf5d7c25", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8b/8b8c09f8-bb71-5ee4-ad71-8f607e854f60.json b/labels/outdoor/8b/8b8c09f8-bb71-5ee4-ad71-8f607e854f60.json
index 5c3ba31672bddfbe5bde6100774e208b5fcdc3f1..f4207fdebc6d88b6176fb5c3e6e64958e64e91ff 100644
--- a/labels/outdoor/8b/8b8c09f8-bb71-5ee4-ad71-8f607e854f60.json
+++ b/labels/outdoor/8b/8b8c09f8-bb71-5ee4-ad71-8f607e854f60.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the red reflective post on the right side of the road.", "destination": "the red reflective post", "start_xy": [780, 745], "ang_err_namer_deg": 3.740363850746611, "ang_err_cycle_deg": 3.740363850746611, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "8b8c09f8_seg0", "clip": "8b8c09f8-bb71-5ee4-ad71-8f607e854f60", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the yellow curve warning sign.", "destination": "the yellow curve warning sign", "start_xy": [501, 591], "ang_err_namer_deg": 13.453969464862835, "ang_err_cycle_deg": 13.180188123529954, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "8b8c09f8_seg1", "clip": "8b8c09f8-bb71-5ee4-ad71-8f607e854f60", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the red reflective road marker on the left.", "destination": "red reflective road marker", "start_xy": [255, 655], "ang_err_namer_deg": 7.111616670994676, "ang_err_cycle_deg": 7.190774620633149, "confidence": "A", "arrival_ok": true, "duration_s": 4.95495, "tier": "M", "id": "8b8c09f8_seg2", "clip": "8b8c09f8-bb71-5ee4-ad71-8f607e854f60", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the red reflective post on the right side of the road.", "destination": "the red reflective post", "start_xy": [780, 745], "ang_err_namer_deg": 3.740363850746611, "ang_err_cycle_deg": 3.740363850746611, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "8b8c09f8_seg0", "clip": "8b8c09f8-bb71-5ee4-ad71-8f607e854f60", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the red reflective road marker on the left.", "destination": "red reflective road marker", "start_xy": [255, 655], "ang_err_namer_deg": 7.111616670994676, "ang_err_cycle_deg": 7.190774620633149, "confidence": "A", "arrival_ok": true, "duration_s": 4.95495, "tier": "M", "id": "8b8c09f8_seg2", "clip": "8b8c09f8-bb71-5ee4-ad71-8f607e854f60", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8b/8bcbc172-6c54-54a0-a16f-8dbbc7aa0834.json b/labels/outdoor/8b/8bcbc172-6c54-54a0-a16f-8dbbc7aa0834.json
index 3a019af3f16524cf31168066bd5ec6eb9e5b481e..9a421b6f2bb909167923c882e1cff540b8e160c2 100644
--- a/labels/outdoor/8b/8bcbc172-6c54-54a0-a16f-8dbbc7aa0834.json
+++ b/labels/outdoor/8b/8bcbc172-6c54-54a0-a16f-8dbbc7aa0834.json
@@ -1 +1 @@
-[{"t0": 40, "t_end": 78, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [528, 381], "ang_err_namer_deg": 4.319702684288073, "ang_err_cycle_deg": 4.546395583589768, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "8bcbc172_seg0", "clip": "8bcbc172-6c54-54a0-a16f-8dbbc7aa0834", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road", "start_xy": [450, 500], "ang_err_namer_deg": 2.547398716475082, "ang_err_cycle_deg": 1.0740220829366607, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "8bcbc172_seg1", "clip": "8bcbc172-6c54-54a0-a16f-8dbbc7aa0834", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 14, "instruction": "Go to the bend in the road where the stone wall ends.", "destination": "the bend in the road where the stone wall ends", "start_xy": [490, 526], "ang_err_namer_deg": 0.12384433853575927, "ang_err_cycle_deg": 0.46483206736615007, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "8bcbc172_seg2", "clip": "8bcbc172-6c54-54a0-a16f-8dbbc7aa0834", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 14, "instruction": "Go to the bend in the road where the stone wall ends.", "destination": "the bend in the road where the stone wall ends", "start_xy": [490, 526], "ang_err_namer_deg": 0.12384433853575927, "ang_err_cycle_deg": 0.46483206736615007, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "8bcbc172_seg2", "clip": "8bcbc172-6c54-54a0-a16f-8dbbc7aa0834", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8c/8c045d4d-a288-5afa-9369-f4147831584d.json b/labels/outdoor/8c/8c045d4d-a288-5afa-9369-f4147831584d.json
index 6ab61829d24c19cc968d0f1c77a28aabc7757862..ea7adab7489479ae4924e986a24822007350b369 100644
--- a/labels/outdoor/8c/8c045d4d-a288-5afa-9369-f4147831584d.json
+++ b/labels/outdoor/8c/8c045d4d-a288-5afa-9369-f4147831584d.json
@@ -1 +1 @@
-[{"t0": 58, "t_end": 78, "instruction": "Go to the person walking on the road.", "destination": "the person walking on the road", "start_xy": [369, 482], "ang_err_namer_deg": 4.138686971103692, "ang_err_cycle_deg": 4.066116642355296, "confidence": "B", "arrival_ok": false, "duration_s": 3.3364845246697112, "tier": "M", "id": "8c045d4d_seg0", "clip": "8c045d4d-a288-5afa-9369-f4147831584d", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 45, "instruction": "Go to the area on the road between the white marker posts.", "destination": "the area between the white marker posts", "start_xy": [372, 523], "ang_err_namer_deg": 7.329167034712129, "ang_err_cycle_deg": 7.619510240621374, "confidence": "A", "arrival_ok": true, "duration_s": 3.3364845246697112, "tier": "M", "id": "8c045d4d_seg1", "clip": "8c045d4d-a288-5afa-9369-f4147831584d", "source": "spatialvid_v3"}, {"t0": 12, "t_end": 23, "instruction": "Go to the post on the left side of the road.", "destination": "post on the left side of the road", "start_xy": [339, 526], "ang_err_namer_deg": 11.528352514706707, "ang_err_cycle_deg": 11.528352514706707, "confidence": "A", "arrival_ok": true, "duration_s": 1.8350664885683412, "tier": "S", "id": "8c045d4d_seg2", "clip": "8c045d4d-a288-5afa-9369-f4147831584d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 45, "instruction": "Go to the area on the road between the white marker posts.", "destination": "the area between the white marker posts", "start_xy": [372, 523], "ang_err_namer_deg": 7.329167034712129, "ang_err_cycle_deg": 7.619510240621374, "confidence": "A", "arrival_ok": true, "duration_s": 3.3364845246697112, "tier": "M", "id": "8c045d4d_seg1", "clip": "8c045d4d-a288-5afa-9369-f4147831584d", "source": "spatialvid_v3"}, {"t0": 12, "t_end": 23, "instruction": "Go to the post on the left side of the road.", "destination": "post on the left side of the road", "start_xy": [339, 526], "ang_err_namer_deg": 11.528352514706707, "ang_err_cycle_deg": 11.528352514706707, "confidence": "A", "arrival_ok": true, "duration_s": 1.8350664885683412, "tier": "S", "id": "8c045d4d_seg2", "clip": "8c045d4d-a288-5afa-9369-f4147831584d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8c/8c320487-fa92-5120-a12e-b71c5c3fbe9d.json b/labels/outdoor/8c/8c320487-fa92-5120-a12e-b71c5c3fbe9d.json
index e2c1d3f2558af107399a75359b20d8ff63adcfaa..d3ae88dd2cc15ecb20b248df99a8632b683a60a5 100644
--- a/labels/outdoor/8c/8c320487-fa92-5120-a12e-b71c5c3fbe9d.json
+++ b/labels/outdoor/8c/8c320487-fa92-5120-a12e-b71c5c3fbe9d.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the railway signal structure on the right.", "destination": "the railway signal", "start_xy": [753, 485], "ang_err_namer_deg": 13.356570859750699, "ang_err_cycle_deg": 2.7982439192268225, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8c320487_seg0", "clip": "8c320487-fa92-5120-a12e-b71c5c3fbe9d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow sign by the tracks.", "destination": "yellow sign", "start_xy": [558, 506], "ang_err_namer_deg": 0.7165318964902412, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "8c320487_seg1", "clip": "8c320487-fa92-5120-a12e-b71c5c3fbe9d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow track speed sign.", "destination": "the yellow track speed sign", "start_xy": [585, 482], "ang_err_namer_deg": 1.958734871244998, "ang_err_cycle_deg": 1.8283810160513276, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "8c320487_seg2", "clip": "8c320487-fa92-5120-a12e-b71c5c3fbe9d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the railway signal structure on the right.", "destination": "the railway signal", "start_xy": [753, 485], "ang_err_namer_deg": 13.356570859750699, "ang_err_cycle_deg": 2.7982439192268225, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8c320487_seg0", "clip": "8c320487-fa92-5120-a12e-b71c5c3fbe9d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow track speed sign.", "destination": "the yellow track speed sign", "start_xy": [585, 482], "ang_err_namer_deg": 1.958734871244998, "ang_err_cycle_deg": 1.8283810160513276, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "8c320487_seg2", "clip": "8c320487-fa92-5120-a12e-b71c5c3fbe9d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8c/8cf44759-0937-5084-b530-21ee698eb913.json b/labels/outdoor/8c/8cf44759-0937-5084-b530-21ee698eb913.json
index 5b269de3bb08c09f1dbd8fc8d7e5f785f064e84f..f4fed45a63dbbfe355a6a01b0bf4617ebad8d11b 100644
--- a/labels/outdoor/8c/8cf44759-0937-5084-b530-21ee698eb913.json
+++ b/labels/outdoor/8c/8cf44759-0937-5084-b530-21ee698eb913.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the large stone landmark on the right side of the road.", "destination": "the large stone landmark", "start_xy": [516, 583], "ang_err_namer_deg": 6.5868955744524325, "ang_err_cycle_deg": 6.2639943831194405, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "8cf44759_seg0", "clip": "8cf44759-0937-5084-b530-21ee698eb913", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the pinkish stone formation.", "destination": "the pinkish stone formation", "start_xy": [519, 625], "ang_err_namer_deg": 1.9480591968428502, "ang_err_cycle_deg": 1.7866493094136258, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "8cf44759_seg1", "clip": "8cf44759-0937-5084-b530-21ee698eb913", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the stone marker by the side of the road.", "destination": "the stone marker", "start_xy": [512, 625], "ang_err_namer_deg": 1.527702833994412, "ang_err_cycle_deg": 1.527702833994412, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "8cf44759_seg2", "clip": "8cf44759-0937-5084-b530-21ee698eb913", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the stone marker by the side of the road.", "destination": "the stone marker", "start_xy": [512, 625], "ang_err_namer_deg": 1.527702833994412, "ang_err_cycle_deg": 1.527702833994412, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "8cf44759_seg2", "clip": "8cf44759-0937-5084-b530-21ee698eb913", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8d/8d250802-f773-50a0-9336-7a9fa075586d.json b/labels/outdoor/8d/8d250802-f773-50a0-9336-7a9fa075586d.json
index 14efb6b6f0fcfc08b4252e1e9485a7f34065f6f9..2fb191508092db3632e6695b4c31adb3ec9a324e 100644
--- a/labels/outdoor/8d/8d250802-f773-50a0-9336-7a9fa075586d.json
+++ b/labels/outdoor/8d/8d250802-f773-50a0-9336-7a9fa075586d.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area where the road curves to the right along the rocky cliffside.", "destination": "the curve in the road by the cliffside", "start_xy": [485, 625], "ang_err_namer_deg": 3.9162851646977024, "ang_err_cycle_deg": 4.2215052695305, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "8d250802_seg0", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the rock formation on the right.", "destination": "the rock formation on the right", "start_xy": [484, 578], "ang_err_namer_deg": 1.8670922441681526, "ang_err_cycle_deg": 3.9032017232039986, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "8d250802_seg1", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 29, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [504, 562], "ang_err_namer_deg": 5.027925061631533, "ang_err_cycle_deg": 5.12974628510725, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "8d250802_seg2", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the orange traffic cone on the side of the road.", "destination": "the orange traffic cone", "start_xy": [526, 605], "ang_err_namer_deg": 4.356842569654029, "ang_err_cycle_deg": 4.356842569654029, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "8d250802_seg3", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 31, "t_end": 50, "instruction": "Go to the rock formation on the right.", "destination": "the rock formation on the right", "start_xy": [484, 578], "ang_err_namer_deg": 1.8670922441681526, "ang_err_cycle_deg": 3.9032017232039986, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "8d250802_seg1", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the orange traffic cone on the side of the road.", "destination": "the orange traffic cone", "start_xy": [526, 605], "ang_err_namer_deg": 4.356842569654029, "ang_err_cycle_deg": 4.356842569654029, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "8d250802_seg3", "clip": "8d250802-f773-50a0-9336-7a9fa075586d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8d/8dbf67f3-d9f9-5208-92b2-9a1769535c77.json b/labels/outdoor/8d/8dbf67f3-d9f9-5208-92b2-9a1769535c77.json
index 345e2c4c201777a1a1f992983c9e2ad08ba9f851..2adeb64c98f2868103129fd892b1a91d3248783c 100644
--- a/labels/outdoor/8d/8dbf67f3-d9f9-5208-92b2-9a1769535c77.json
+++ b/labels/outdoor/8d/8dbf67f3-d9f9-5208-92b2-9a1769535c77.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area beside the dark car parked on the side of the road.", "destination": "the dark car", "start_xy": [511, 718], "ang_err_namer_deg": 0.740885751291328, "ang_err_cycle_deg": 0.8560188554667363, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "8dbf67f3_seg0", "clip": "8dbf67f3-d9f9-5208-92b2-9a1769535c77", "source": "spatialvid_v3"}, {"t0": 46, "t_end": 60, "instruction": "Go to the white house in the distance.", "destination": "the white house", "start_xy": [565, 668], "ang_err_namer_deg": 1.2415836298673555, "ang_err_cycle_deg": 0.22479837222864893, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "8dbf67f3_seg1", "clip": "8dbf67f3-d9f9-5208-92b2-9a1769535c77", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the brown house with the red roof.", "destination": "the brown house with the red roof", "start_xy": [792, 526], "ang_err_namer_deg": 1.411772156224849, "ang_err_cycle_deg": 1.411772156224849, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8dbf67f3_seg2", "clip": "8dbf67f3-d9f9-5208-92b2-9a1769535c77", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area beside the dark car parked on the side of the road.", "destination": "the dark car", "start_xy": [511, 718], "ang_err_namer_deg": 0.740885751291328, "ang_err_cycle_deg": 0.8560188554667363, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "8dbf67f3_seg0", "clip": "8dbf67f3-d9f9-5208-92b2-9a1769535c77", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the brown house with the red roof.", "destination": "the brown house with the red roof", "start_xy": [792, 526], "ang_err_namer_deg": 1.411772156224849, "ang_err_cycle_deg": 1.411772156224849, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8dbf67f3_seg2", "clip": "8dbf67f3-d9f9-5208-92b2-9a1769535c77", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8d/8dd7ec48-977a-5d3c-8ab9-647d90bb765e.json b/labels/outdoor/8d/8dd7ec48-977a-5d3c-8ab9-647d90bb765e.json
index ae53c817f00d64cb0e426f6cd7f8d3d26fdfff73..a8344eb4bdcbd40603ddc0f7d4099fb60589d944 100644
--- a/labels/outdoor/8d/8dd7ec48-977a-5d3c-8ab9-647d90bb765e.json
+++ b/labels/outdoor/8d/8dd7ec48-977a-5d3c-8ab9-647d90bb765e.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the yellow sign on the pole.", "destination": "the yellow sign on the pole", "start_xy": [425, 482], "ang_err_namer_deg": 1.5156290645107098, "ang_err_cycle_deg": 1.5156290645107098, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8dd7ec48_seg0", "clip": "8dd7ec48-977a-5d3c-8ab9-647d90bb765e", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the metal electrical pylon by the tracks.", "destination": "the metal electrical pylon", "start_xy": [489, 323], "ang_err_namer_deg": 8.556313837039239, "ang_err_cycle_deg": 14.237961068720463, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "8dd7ec48_seg1", "clip": "8dd7ec48-977a-5d3c-8ab9-647d90bb765e", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the railway sign.", "destination": "railway sign", "start_xy": [329, 530], "ang_err_namer_deg": 9.434504429975215, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "8dd7ec48_seg2", "clip": "8dd7ec48-977a-5d3c-8ab9-647d90bb765e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the yellow sign on the pole.", "destination": "the yellow sign on the pole", "start_xy": [425, 482], "ang_err_namer_deg": 1.5156290645107098, "ang_err_cycle_deg": 1.5156290645107098, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8dd7ec48_seg0", "clip": "8dd7ec48-977a-5d3c-8ab9-647d90bb765e", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the metal electrical pylon by the tracks.", "destination": "the metal electrical pylon", "start_xy": [489, 323], "ang_err_namer_deg": 8.556313837039239, "ang_err_cycle_deg": 14.237961068720463, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "8dd7ec48_seg1", "clip": "8dd7ec48-977a-5d3c-8ab9-647d90bb765e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8e/8e67a2c1-e1dd-50eb-a140-9ca6d1556a55.json b/labels/outdoor/8e/8e67a2c1-e1dd-50eb-a140-9ca6d1556a55.json
index c548a85bca7189b612af5986ba5594f205b95dd6..d427081202073df714aa55e44ae9d6c6fc9268e2 100644
--- a/labels/outdoor/8e/8e67a2c1-e1dd-50eb-a140-9ca6d1556a55.json
+++ b/labels/outdoor/8e/8e67a2c1-e1dd-50eb-a140-9ca6d1556a55.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the blue portable generator on the side of the road.", "destination": "the blue portable generator", "start_xy": [508, 619], "ang_err_namer_deg": 1.2647605752858515, "ang_err_cycle_deg": 1.384751297457485, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8e67a2c1_seg0", "clip": "8e67a2c1-e1dd-50eb-a140-9ca6d1556a55", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the blue truck.", "destination": "the blue truck", "start_xy": [605, 595], "ang_err_namer_deg": 2.686720814591687, "ang_err_cycle_deg": 2.686720814591687, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "8e67a2c1_seg1", "clip": "8e67a2c1-e1dd-50eb-a140-9ca6d1556a55", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the blue portable generator on the side of the road.", "destination": "the blue portable generator", "start_xy": [508, 619], "ang_err_namer_deg": 1.2647605752858515, "ang_err_cycle_deg": 1.384751297457485, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "8e67a2c1_seg0", "clip": "8e67a2c1-e1dd-50eb-a140-9ca6d1556a55", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8f/8f057176-0f6d-5494-af45-957fdc7e3ba3.json b/labels/outdoor/8f/8f057176-0f6d-5494-af45-957fdc7e3ba3.json
index 51ded78dabcbe64c95e2dd90994501d23e378445..6604dc7a3efe04b17e9ae6178c07a4bfd51f8521 100644
--- a/labels/outdoor/8f/8f057176-0f6d-5494-af45-957fdc7e3ba3.json
+++ b/labels/outdoor/8f/8f057176-0f6d-5494-af45-957fdc7e3ba3.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the road mirror.", "destination": "the road mirror", "start_xy": [211, 597], "ang_err_namer_deg": 6.82533954985069, "ang_err_cycle_deg": 6.638000786122736, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8f057176_seg0", "clip": "8f057176-0f6d-5494-af45-957fdc7e3ba3", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the stone structure by the trees.", "destination": "the stone structure by the trees", "start_xy": [427, 526], "ang_err_namer_deg": 11.463842646869676, "ang_err_cycle_deg": 11.463842646869676, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "8f057176_seg1", "clip": "8f057176-0f6d-5494-af45-957fdc7e3ba3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the road mirror.", "destination": "the road mirror", "start_xy": [211, 597], "ang_err_namer_deg": 6.82533954985069, "ang_err_cycle_deg": 6.638000786122736, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "8f057176_seg0", "clip": "8f057176-0f6d-5494-af45-957fdc7e3ba3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/8f/8f512b59-a374-5cc9-b921-f45e53d533d9.json b/labels/outdoor/8f/8f512b59-a374-5cc9-b921-f45e53d533d9.json
index 599b43f939ce86ad8415687a5f037fc066ba6d2b..284244cd9ba34eaefbf129b6afac7b9c054cfc8a 100644
--- a/labels/outdoor/8f/8f512b59-a374-5cc9-b921-f45e53d533d9.json
+++ b/labels/outdoor/8f/8f512b59-a374-5cc9-b921-f45e53d533d9.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the small wooden shed by the side of the road.", "destination": "small wooden shed", "start_xy": [571, 671], "ang_err_namer_deg": 3.3635090218230763, "ang_err_cycle_deg": 3.138564497005173, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "8f512b59_seg0", "clip": "8f512b59-a374-5cc9-b921-f45e53d533d9", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [161, 661], "ang_err_namer_deg": 4.549285875946359, "ang_err_cycle_deg": 7.565234074349009, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "8f512b59_seg1", "clip": "8f512b59-a374-5cc9-b921-f45e53d533d9", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the small wooden house on the hillside.", "destination": "small wooden house", "start_xy": [235, 535], "ang_err_namer_deg": 7.795793503879523, "ang_err_cycle_deg": 7.795793503879523, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "8f512b59_seg2", "clip": "8f512b59-a374-5cc9-b921-f45e53d533d9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the small wooden shed by the side of the road.", "destination": "small wooden shed", "start_xy": [571, 671], "ang_err_namer_deg": 3.3635090218230763, "ang_err_cycle_deg": 3.138564497005173, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "8f512b59_seg0", "clip": "8f512b59-a374-5cc9-b921-f45e53d533d9", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [161, 661], "ang_err_namer_deg": 4.549285875946359, "ang_err_cycle_deg": 7.565234074349009, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "8f512b59_seg1", "clip": "8f512b59-a374-5cc9-b921-f45e53d533d9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/91/913149ce-4330-5ad0-b5c5-4a3ceba03162.json b/labels/outdoor/91/913149ce-4330-5ad0-b5c5-4a3ceba03162.json
index a02bd36a24648558c7a459d324ffdcd62a08770d..7997c9e72dae750d0510afac8af81062602f6e0f 100644
--- a/labels/outdoor/91/913149ce-4330-5ad0-b5c5-4a3ceba03162.json
+++ b/labels/outdoor/91/913149ce-4330-5ad0-b5c5-4a3ceba03162.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the white truck.", "destination": "white truck", "start_xy": [609, 628], "ang_err_namer_deg": 3.7424310716172893, "ang_err_cycle_deg": 3.7424310716172893, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "913149ce_seg0", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the road sign on the right.", "destination": "road sign", "start_xy": [605, 612], "ang_err_namer_deg": 11.88422824517188, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "913149ce_seg1", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the stretch of road flanked by the dense treeline.", "destination": "the stretch of road flanked by the dense treeline", "start_xy": [500, 700], "ang_err_namer_deg": 3.278983610035357, "ang_err_cycle_deg": 1.6178377788752092, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "913149ce_seg2", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the post on the side of the road.", "destination": "the post on the side of the road", "start_xy": [560, 650], "ang_err_namer_deg": 10.328553297370842, "ang_err_cycle_deg": 10.749784986445972, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "913149ce_seg3", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 23, "instruction": "Go to the stretch of road flanked by the dense treeline.", "destination": "the stretch of road flanked by the dense treeline", "start_xy": [500, 700], "ang_err_namer_deg": 3.278983610035357, "ang_err_cycle_deg": 1.6178377788752092, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "913149ce_seg2", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the post on the side of the road.", "destination": "the post on the side of the road", "start_xy": [560, 650], "ang_err_namer_deg": 10.328553297370842, "ang_err_cycle_deg": 10.749784986445972, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "913149ce_seg3", "clip": "913149ce-4330-5ad0-b5c5-4a3ceba03162", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/91/915a96c5-a9c1-5e45-8588-8b7056532957.json b/labels/outdoor/91/915a96c5-a9c1-5e45-8588-8b7056532957.json
index 1ba318d1d4b68f5b58629ec8f9db9cd88e7b8d9e..d7f19bfb4d39c8b54fc28fcc5567b49a1c7ed211 100644
--- a/labels/outdoor/91/915a96c5-a9c1-5e45-8588-8b7056532957.json
+++ b/labels/outdoor/91/915a96c5-a9c1-5e45-8588-8b7056532957.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [639, 693], "ang_err_namer_deg": 1.164006849034324, "ang_err_cycle_deg": 1.0305647400045994, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "915a96c5_seg0", "clip": "915a96c5-a9c1-5e45-8588-8b7056532957", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the oncoming truck.", "destination": "oncoming truck", "start_xy": [523, 709], "ang_err_namer_deg": 3.5968005811513613, "ang_err_cycle_deg": 3.733766305785926, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "915a96c5_seg1", "clip": "915a96c5-a9c1-5e45-8588-8b7056532957", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [639, 693], "ang_err_namer_deg": 1.164006849034324, "ang_err_cycle_deg": 1.0305647400045994, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "915a96c5_seg0", "clip": "915a96c5-a9c1-5e45-8588-8b7056532957", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/91/916ffa84-0f75-5dc0-9a5c-3abfc29c6823.json b/labels/outdoor/91/916ffa84-0f75-5dc0-9a5c-3abfc29c6823.json
index 3646a253731d2d34a31b85756e4029da88460f0c..3539ca2a83ccecd1160fcb347dde760aa9c7ffbb 100644
--- a/labels/outdoor/91/916ffa84-0f75-5dc0-9a5c-3abfc29c6823.json
+++ b/labels/outdoor/91/916ffa84-0f75-5dc0-9a5c-3abfc29c6823.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the mountain road.", "destination": "the mountain road", "start_xy": [450, 700], "ang_err_namer_deg": 3.3980694205065936, "ang_err_cycle_deg": 2.878895833536774, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "916ffa84_seg0", "clip": "916ffa84-0f75-5dc0-9a5c-3abfc29c6823", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the utility pole.", "destination": "the utility pole", "start_xy": [519, 481], "ang_err_namer_deg": 9.711358844504293, "ang_err_cycle_deg": 9.936728794549833, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "916ffa84_seg1", "clip": "916ffa84-0f75-5dc0-9a5c-3abfc29c6823", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the side of the building with the green sign.", "destination": "the side of the building with the green sign", "start_xy": [673, 505], "ang_err_namer_deg": 13.56068419197031, "ang_err_cycle_deg": 13.56068419197031, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "916ffa84_seg2", "clip": "916ffa84-0f75-5dc0-9a5c-3abfc29c6823", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 67, "instruction": "Go to the utility pole.", "destination": "the utility pole", "start_xy": [519, 481], "ang_err_namer_deg": 9.711358844504293, "ang_err_cycle_deg": 9.936728794549833, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "916ffa84_seg1", "clip": "916ffa84-0f75-5dc0-9a5c-3abfc29c6823", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the side of the building with the green sign.", "destination": "the side of the building with the green sign", "start_xy": [673, 505], "ang_err_namer_deg": 13.56068419197031, "ang_err_cycle_deg": 13.56068419197031, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "916ffa84_seg2", "clip": "916ffa84-0f75-5dc0-9a5c-3abfc29c6823", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/92/92351736-9a33-5e5a-9385-1f0e19e76ba5.json b/labels/outdoor/92/92351736-9a33-5e5a-9385-1f0e19e76ba5.json
index a5334f508c245d2fb83fe0da62b49365bac31b05..8adf331171c9535b874c304ddd676135a217536e 100644
--- a/labels/outdoor/92/92351736-9a33-5e5a-9385-1f0e19e76ba5.json
+++ b/labels/outdoor/92/92351736-9a33-5e5a-9385-1f0e19e76ba5.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the restaurant storefronts.", "destination": "restaurant storefronts", "start_xy": [760, 570], "ang_err_namer_deg": 9.792641436231193, "ang_err_cycle_deg": 17.70554420837717, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "92351736_seg0", "clip": "92351736-9a33-5e5a-9385-1f0e19e76ba5", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area in front of the hotel and supermarket.", "destination": "the area in front of the hotel and supermarket", "start_xy": [427, 509], "ang_err_namer_deg": 1.9616560604174051, "ang_err_cycle_deg": 1.9616560604174051, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92351736_seg1", "clip": "92351736-9a33-5e5a-9385-1f0e19e76ba5", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow road sign with the winding road symbol.", "destination": "the yellow road sign with the winding road symbol", "start_xy": [414, 560], "ang_err_namer_deg": 10.170622338396923, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "92351736_seg2", "clip": "92351736-9a33-5e5a-9385-1f0e19e76ba5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the area in front of the hotel and supermarket.", "destination": "the area in front of the hotel and supermarket", "start_xy": [427, 509], "ang_err_namer_deg": 1.9616560604174051, "ang_err_cycle_deg": 1.9616560604174051, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92351736_seg1", "clip": "92351736-9a33-5e5a-9385-1f0e19e76ba5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/92/9235ad70-579a-5d27-ae87-98cf4cee55d8.json b/labels/outdoor/92/9235ad70-579a-5d27-ae87-98cf4cee55d8.json
index ec5fe3d130e443aab2edd59e5dda7cb3649ce275..07df40667793af159b4fcd4e24c580fadede6e8a 100644
--- a/labels/outdoor/92/9235ad70-579a-5d27-ae87-98cf4cee55d8.json
+++ b/labels/outdoor/92/9235ad70-579a-5d27-ae87-98cf4cee55d8.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the inn with the sign that says '吴麟饭庄'.", "destination": "the inn with the sign that says '吴麟饭庄'", "start_xy": [164, 648], "ang_err_namer_deg": 2.2531084516059185, "ang_err_cycle_deg": 1.5801321453224701, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9235ad70_seg0", "clip": "9235ad70-579a-5d27-ae87-98cf4cee55d8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the white building with red lanterns.", "destination": "white building with red lanterns", "start_xy": [400, 620], "ang_err_namer_deg": 1.5578970636859968, "ang_err_cycle_deg": 1.3432891312382542, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9235ad70_seg1", "clip": "9235ad70-579a-5d27-ae87-98cf4cee55d8", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area with the building and hanging red lanterns.", "destination": "the building with red lanterns", "start_xy": [371, 508], "ang_err_namer_deg": 3.8380059000049163, "ang_err_cycle_deg": 3.398618214777546, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "9235ad70_seg2", "clip": "9235ad70-579a-5d27-ae87-98cf4cee55d8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the inn with the sign that says '吴麟饭庄'.", "destination": "the inn with the sign that says '吴麟饭庄'", "start_xy": [164, 648], "ang_err_namer_deg": 2.2531084516059185, "ang_err_cycle_deg": 1.5801321453224701, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9235ad70_seg0", "clip": "9235ad70-579a-5d27-ae87-98cf4cee55d8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the white building with red lanterns.", "destination": "white building with red lanterns", "start_xy": [400, 620], "ang_err_namer_deg": 1.5578970636859968, "ang_err_cycle_deg": 1.3432891312382542, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9235ad70_seg1", "clip": "9235ad70-579a-5d27-ae87-98cf4cee55d8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/92/92a9523a-fc51-5ca3-a3cb-21e35e9337ac.json b/labels/outdoor/92/92a9523a-fc51-5ca3-a3cb-21e35e9337ac.json
index ea49e5303a97a4d3015df65175ef35346f086aab..9d51ab5c487a4cf501aae909c58aa5c8bba98758 100644
--- a/labels/outdoor/92/92a9523a-fc51-5ca3-a3cb-21e35e9337ac.json
+++ b/labels/outdoor/92/92a9523a-fc51-5ca3-a3cb-21e35e9337ac.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the large building on the left.", "destination": "the large building on the left", "start_xy": [105, 550], "ang_err_namer_deg": 5.758577443330291, "ang_err_cycle_deg": 5.758577443330291, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "92a9523a_seg0", "clip": "92a9523a-fc51-5ca3-a3cb-21e35e9337ac", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the house with the garage.", "destination": "the house with the garage", "start_xy": [585, 622], "ang_err_namer_deg": 10.555755839940225, "ang_err_cycle_deg": 2.4152301359483395, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92a9523a_seg1", "clip": "92a9523a-fc51-5ca3-a3cb-21e35e9337ac", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the house with the garage.", "destination": "the house with the garage", "start_xy": [585, 622], "ang_err_namer_deg": 10.555755839940225, "ang_err_cycle_deg": 2.4152301359483395, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92a9523a_seg1", "clip": "92a9523a-fc51-5ca3-a3cb-21e35e9337ac", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/92/92b6a092-b847-5b75-9649-4377a2d50a39.json b/labels/outdoor/92/92b6a092-b847-5b75-9649-4377a2d50a39.json
index 28dcd4e2af88f7378a412e6ce7ebc423351e6e48..9a7268b25a92925abacf84472d9368cccf313d94 100644
--- a/labels/outdoor/92/92b6a092-b847-5b75-9649-4377a2d50a39.json
+++ b/labels/outdoor/92/92b6a092-b847-5b75-9649-4377a2d50a39.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the brown building with red window shutters.", "destination": "the brown building with red window shutters", "start_xy": [393, 570], "ang_err_namer_deg": 13.325897210014393, "ang_err_cycle_deg": 9.841758587041396, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92b6a092_seg0", "clip": "92b6a092-b847-5b75-9649-4377a2d50a39", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the gas station.", "destination": "gas station", "start_xy": [583, 516], "ang_err_namer_deg": 9.68277990666806, "ang_err_cycle_deg": 7.591263531322117, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "92b6a092_seg1", "clip": "92b6a092-b847-5b75-9649-4377a2d50a39", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the brown building with red window shutters.", "destination": "the brown building with red window shutters", "start_xy": [393, 570], "ang_err_namer_deg": 13.325897210014393, "ang_err_cycle_deg": 9.841758587041396, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "92b6a092_seg0", "clip": "92b6a092-b847-5b75-9649-4377a2d50a39", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/93/93981b78-a92e-5b9e-a365-5b776b4c1868.json b/labels/outdoor/93/93981b78-a92e-5b9e-a365-5b776b4c1868.json
index 98befa040b138c3b9d83d3743d4f667f3624d853..a0b968b415a52f7452e5e4f811c66a5533c412c6 100644
--- a/labels/outdoor/93/93981b78-a92e-5b9e-a365-5b776b4c1868.json
+++ b/labels/outdoor/93/93981b78-a92e-5b9e-a365-5b776b4c1868.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the bus stop sign.", "destination": "the bus stop sign", "start_xy": [454, 792], "ang_err_namer_deg": 7.8128058060138965, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "93981b78_seg0", "clip": "93981b78-a92e-5b9e-a365-5b776b4c1868", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area in front of the Hangover building.", "destination": "the area in front of the Hangover building", "start_xy": [541, 556], "ang_err_namer_deg": 5.409588124258416, "ang_err_cycle_deg": 4.85790302679372, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "93981b78_seg1", "clip": "93981b78-a92e-5b9e-a365-5b776b4c1868", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area in front of the Hangover building.", "destination": "the area in front of the Hangover building", "start_xy": [541, 556], "ang_err_namer_deg": 5.409588124258416, "ang_err_cycle_deg": 4.85790302679372, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "93981b78_seg1", "clip": "93981b78-a92e-5b9e-a365-5b776b4c1868", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/93/93af93f0-877e-52a4-89f9-31f398d48f10.json b/labels/outdoor/93/93af93f0-877e-52a4-89f9-31f398d48f10.json
index 56e799b926a3fadcba27e7793e492a7305022652..0cb85ee23271c88210ed1ba92d802e96f339ee49 100644
--- a/labels/outdoor/93/93af93f0-877e-52a4-89f9-31f398d48f10.json
+++ b/labels/outdoor/93/93af93f0-877e-52a4-89f9-31f398d48f10.json
@@ -1 +1 @@
-[{"t0": 58, "t_end": 87, "instruction": "Go to the mountain ridge.", "destination": "the mountain ridge", "start_xy": [427, 286], "ang_err_namer_deg": 7.990446992739394, "ang_err_cycle_deg": 20.027180061246863, "confidence": "B", "arrival_ok": true, "duration_s": 4.838166666666667, "tier": "M", "id": "93af93f0_seg0", "clip": "93af93f0-877e-52a4-89f9-31f398d48f10", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 56, "instruction": "Go to the edge of the volcanic ridge.", "destination": "the edge of the volcanic ridge", "start_xy": [482, 551], "ang_err_namer_deg": 10.259276882884205, "ang_err_cycle_deg": 11.014014351275497, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "93af93f0_seg1", "clip": "93af93f0-877e-52a4-89f9-31f398d48f10", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the valley adjacent to the mountainside.", "destination": "the valley adjacent to the mountainside", "start_xy": [485, 283], "ang_err_namer_deg": 2.2233092333787123, "ang_err_cycle_deg": 15.444115756162445, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "93af93f0_seg2", "clip": "93af93f0-877e-52a4-89f9-31f398d48f10", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 18, "t_end": 56, "instruction": "Go to the edge of the volcanic ridge.", "destination": "the edge of the volcanic ridge", "start_xy": [482, 551], "ang_err_namer_deg": 10.259276882884205, "ang_err_cycle_deg": 11.014014351275497, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "93af93f0_seg1", "clip": "93af93f0-877e-52a4-89f9-31f398d48f10", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/93/93c3c7cc-d81e-5835-8774-5fdc950cc187.json b/labels/outdoor/93/93c3c7cc-d81e-5835-8774-5fdc950cc187.json
index 675aed980d347442e5baa24601487759d51012ef..df0ba9299b1e8cae6ed7842f30dfa299fe2e8011 100644
--- a/labels/outdoor/93/93c3c7cc-d81e-5835-8774-5fdc950cc187.json
+++ b/labels/outdoor/93/93c3c7cc-d81e-5835-8774-5fdc950cc187.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area of the bend in the road.", "destination": "the bend in the road", "start_xy": [482, 551], "ang_err_namer_deg": 5.203058713628969, "ang_err_cycle_deg": 0.11347882993878775, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "93c3c7cc_seg0", "clip": "93c3c7cc-d81e-5835-8774-5fdc950cc187", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area of the road where it curves slightly left alongside the tree-lined hill.", "destination": "the curve in the road", "start_xy": [673, 570], "ang_err_namer_deg": 0.24481869853237828, "ang_err_cycle_deg": 0.06487639439197083, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "93c3c7cc_seg1", "clip": "93c3c7cc-d81e-5835-8774-5fdc950cc187", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area of the road where it curves slightly left alongside the tree-lined hill.", "destination": "the curve in the road", "start_xy": [673, 570], "ang_err_namer_deg": 0.24481869853237828, "ang_err_cycle_deg": 0.06487639439197083, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "93c3c7cc_seg1", "clip": "93c3c7cc-d81e-5835-8774-5fdc950cc187", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/94/941bee74-08cf-5e79-a50f-bc871ade0b20.json b/labels/outdoor/94/941bee74-08cf-5e79-a50f-bc871ade0b20.json
index a57b3a0069c892df700a98672c50a706f51dba9d..128c281eb5d2f0ef81656cfa635d1348f8a1e50c 100644
--- a/labels/outdoor/94/941bee74-08cf-5e79-a50f-bc871ade0b20.json
+++ b/labels/outdoor/94/941bee74-08cf-5e79-a50f-bc871ade0b20.json
@@ -1 +1 @@
-[{"t0": 16, "t_end": 48, "instruction": "Go to the area by the silver car parked on the right.", "destination": "the area by the silver car", "start_xy": [765, 512], "ang_err_namer_deg": 11.913628368176171, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "941bee74_seg0", "clip": "941bee74-08cf-5e79-a50f-bc871ade0b20", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 14, "instruction": "Go to the area by the intersection between the two houses.", "destination": "the area by the intersection between the two houses", "start_xy": [489, 745], "ang_err_namer_deg": 13.896605998643569, "ang_err_cycle_deg": 11.567173737316537, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "941bee74_seg1", "clip": "941bee74-08cf-5e79-a50f-bc871ade0b20", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 14, "instruction": "Go to the area by the intersection between the two houses.", "destination": "the area by the intersection between the two houses", "start_xy": [489, 745], "ang_err_namer_deg": 13.896605998643569, "ang_err_cycle_deg": 11.567173737316537, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "941bee74_seg1", "clip": "941bee74-08cf-5e79-a50f-bc871ade0b20", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/94/944c8710-e437-5087-894a-61fb0a8779ac.json b/labels/outdoor/94/944c8710-e437-5087-894a-61fb0a8779ac.json
index d21bfd8b2ec49e41b0d8f023be85f9f0c6673b97..16b2ed34b1d3edc9c54a889c411abb2b6b156ab6 100644
--- a/labels/outdoor/94/944c8710-e437-5087-894a-61fb0a8779ac.json
+++ b/labels/outdoor/94/944c8710-e437-5087-894a-61fb0a8779ac.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the utility pole.", "destination": "the utility pole", "start_xy": [23, 485], "ang_err_namer_deg": 4.603317622796011, "ang_err_cycle_deg": 4.603317622796011, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "944c8710_seg0", "clip": "944c8710-e437-5087-894a-61fb0a8779ac", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the area by the utility pole.", "destination": "the utility pole", "start_xy": [574, 361], "ang_err_namer_deg": 6.611989976753193, "ang_err_cycle_deg": 6.611989976753193, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "944c8710_seg1", "clip": "944c8710-e437-5087-894a-61fb0a8779ac", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area by the utility pole along the road.", "destination": "the area by the utility pole", "start_xy": [262, 558], "ang_err_namer_deg": 4.1367346023561575, "ang_err_cycle_deg": 3.864460668200475, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "944c8710_seg2", "clip": "944c8710-e437-5087-894a-61fb0a8779ac", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the area by the utility pole along the road.", "destination": "the area by the utility pole", "start_xy": [262, 558], "ang_err_namer_deg": 4.1367346023561575, "ang_err_cycle_deg": 3.864460668200475, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "944c8710_seg2", "clip": "944c8710-e437-5087-894a-61fb0a8779ac", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/94/9477c0f1-aa8d-5879-9fae-2cd68a90248b.json b/labels/outdoor/94/9477c0f1-aa8d-5879-9fae-2cd68a90248b.json
index 9689a20c0a8953c5669e5c3de77fccc02f7ed229..d598a70b9cc1bb7177ee6021515c506310470061 100644
--- a/labels/outdoor/94/9477c0f1-aa8d-5879-9fae-2cd68a90248b.json
+++ b/labels/outdoor/94/9477c0f1-aa8d-5879-9fae-2cd68a90248b.json
@@ -1 +1 @@
-[{"t0": 40, "t_end": 78, "instruction": "Go to the concrete wall along the road.", "destination": "concrete wall", "start_xy": [930, 450], "ang_err_namer_deg": 1.4398007549290333, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "9477c0f1_seg0", "clip": "9477c0f1-aa8d-5879-9fae-2cd68a90248b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 38, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [519, 427], "ang_err_namer_deg": 0.6388118581875784, "ang_err_cycle_deg": 2.92246510551537, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "9477c0f1_seg1", "clip": "9477c0f1-aa8d-5879-9fae-2cd68a90248b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 38, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [519, 427], "ang_err_namer_deg": 0.6388118581875784, "ang_err_cycle_deg": 2.92246510551537, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "9477c0f1_seg1", "clip": "9477c0f1-aa8d-5879-9fae-2cd68a90248b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/94/947c14e3-0f85-5ebe-bc02-91c78145db94.json b/labels/outdoor/94/947c14e3-0f85-5ebe-bc02-91c78145db94.json
index 5e3f39d265f719d1e3510af2a99c7fce77ca483d..ea5668999679b38873ca0231372f9654a0e89bb9 100644
--- a/labels/outdoor/94/947c14e3-0f85-5ebe-bc02-91c78145db94.json
+++ b/labels/outdoor/94/947c14e3-0f85-5ebe-bc02-91c78145db94.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the white van parked on the side of the road.", "destination": "the white van", "start_xy": [420, 625], "ang_err_namer_deg": 4.083187750096796, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "947c14e3_seg0", "clip": "947c14e3-0f85-5ebe-bc02-91c78145db94", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the stone staircase by the hillside wooden building.", "destination": "the stone staircase", "start_xy": [381, 622], "ang_err_namer_deg": 5.177690276368229, "ang_err_cycle_deg": 5.842993077592356, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "947c14e3_seg1", "clip": "947c14e3-0f85-5ebe-bc02-91c78145db94", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the area by the streetlight.", "destination": "the streetlight", "start_xy": [538, 454], "ang_err_namer_deg": 3.6989715367614444, "ang_err_cycle_deg": 4.304307840544103, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "947c14e3_seg2", "clip": "947c14e3-0f85-5ebe-bc02-91c78145db94", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 13, "instruction": "Go to the area by the streetlight.", "destination": "the streetlight", "start_xy": [538, 454], "ang_err_namer_deg": 3.6989715367614444, "ang_err_cycle_deg": 4.304307840544103, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "947c14e3_seg2", "clip": "947c14e3-0f85-5ebe-bc02-91c78145db94", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/94/94a59a5f-7fe9-5d16-a253-fa1490b31b8a.json b/labels/outdoor/94/94a59a5f-7fe9-5d16-a253-fa1490b31b8a.json
index 4d1d4327a67f226811a3a1e423d97f43f89d9e6a..b6aa8a4e511bc8bc6c83fa0ff91573928cb9c5bd 100644
--- a/labels/outdoor/94/94a59a5f-7fe9-5d16-a253-fa1490b31b8a.json
+++ b/labels/outdoor/94/94a59a5f-7fe9-5d16-a253-fa1490b31b8a.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the brown building.", "destination": "the brown building", "start_xy": [483, 508], "ang_err_namer_deg": 6.086216812263726, "ang_err_cycle_deg": 9.023823211309576, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "94a59a5f_seg0", "clip": "94a59a5f-7fe9-5d16-a253-fa1490b31b8a", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area by the white van parked in front of the building.", "destination": "the area by the white van", "start_xy": [403, 601], "ang_err_namer_deg": 12.74401137045305, "ang_err_cycle_deg": 13.269386927554097, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "94a59a5f_seg1", "clip": "94a59a5f-7fe9-5d16-a253-fa1490b31b8a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the grey house with the red-tiled roof.", "destination": "the area by the grey house", "start_xy": [427, 501], "ang_err_namer_deg": 12.03867295404525, "ang_err_cycle_deg": 17.912176761397465, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "94a59a5f_seg2", "clip": "94a59a5f-7fe9-5d16-a253-fa1490b31b8a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the brown building.", "destination": "the brown building", "start_xy": [483, 508], "ang_err_namer_deg": 6.086216812263726, "ang_err_cycle_deg": 9.023823211309576, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "94a59a5f_seg0", "clip": "94a59a5f-7fe9-5d16-a253-fa1490b31b8a", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area by the white van parked in front of the building.", "destination": "the area by the white van", "start_xy": [403, 601], "ang_err_namer_deg": 12.74401137045305, "ang_err_cycle_deg": 13.269386927554097, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "94a59a5f_seg1", "clip": "94a59a5f-7fe9-5d16-a253-fa1490b31b8a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/95/95467057-c067-54a1-9eb8-b7229ed155f2.json b/labels/outdoor/95/95467057-c067-54a1-9eb8-b7229ed155f2.json
index f487b0ad66021a822cd90367ee50be61e465629f..d0b69f1562a3fd4c64e5c8e01b1a1cda1a5f0a50 100644
--- a/labels/outdoor/95/95467057-c067-54a1-9eb8-b7229ed155f2.json
+++ b/labels/outdoor/95/95467057-c067-54a1-9eb8-b7229ed155f2.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [673, 918], "ang_err_namer_deg": 1.3044628690077769, "ang_err_cycle_deg": 2.036120289602575, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "95467057_seg0", "clip": "95467057-c067-54a1-9eb8-b7229ed155f2", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the stretch of road with the guardrail.", "destination": "the stretch of road with the guardrail", "start_xy": [583, 743], "ang_err_namer_deg": 3.9497860584472617, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "95467057_seg1", "clip": "95467057-c067-54a1-9eb8-b7229ed155f2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [673, 918], "ang_err_namer_deg": 1.3044628690077769, "ang_err_cycle_deg": 2.036120289602575, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "95467057_seg0", "clip": "95467057-c067-54a1-9eb8-b7229ed155f2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/96/9662f22d-b2e2-5f04-9680-e38e431815b3.json b/labels/outdoor/96/9662f22d-b2e2-5f04-9680-e38e431815b3.json
index 69da5bcf5654da69c784f7a3cb1a5f56fd8831cd..487594503b46ae5bdcb05aaf3ca609c9715d3aa9 100644
--- a/labels/outdoor/96/9662f22d-b2e2-5f04-9680-e38e431815b3.json
+++ b/labels/outdoor/96/9662f22d-b2e2-5f04-9680-e38e431815b3.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the stone archway.", "destination": "the stone archway", "start_xy": [370, 427], "ang_err_namer_deg": 3.831884590541653, "ang_err_cycle_deg": 3.9169111292583567, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9662f22d_seg0", "clip": "9662f22d-b2e2-5f04-9680-e38e431815b3", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the stone archway.", "destination": "stone archway", "start_xy": [454, 427], "ang_err_namer_deg": 1.3509293722784153, "ang_err_cycle_deg": 1.6147789200096945, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "9662f22d_seg1", "clip": "9662f22d-b2e2-5f04-9680-e38e431815b3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the stone archway.", "destination": "the stone archway", "start_xy": [370, 427], "ang_err_namer_deg": 3.831884590541653, "ang_err_cycle_deg": 3.9169111292583567, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9662f22d_seg0", "clip": "9662f22d-b2e2-5f04-9680-e38e431815b3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/96/96b06b8c-2db7-515e-81e1-b9e36fe0dd23.json b/labels/outdoor/96/96b06b8c-2db7-515e-81e1-b9e36fe0dd23.json
index 38fba0b566d0160f72f81c0a567cbb6b060b2795..a1fb7f0f6a47d2df92fd617bba6592ad2f265301 100644
--- a/labels/outdoor/96/96b06b8c-2db7-515e-81e1-b9e36fe0dd23.json
+++ b/labels/outdoor/96/96b06b8c-2db7-515e-81e1-b9e36fe0dd23.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the power line pole.", "destination": "the area with the power line pole", "start_xy": [512, 381], "ang_err_namer_deg": 4.792546897172106, "ang_err_cycle_deg": 1.2688681183877415, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "96b06b8c_seg0", "clip": "96b06b8c-2db7-515e-81e1-b9e36fe0dd23", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area with the yellow warning sign on the side of the road.", "destination": "the area with the yellow warning sign", "start_xy": [700, 590], "ang_err_namer_deg": 10.329437185356632, "ang_err_cycle_deg": 10.13684848074138, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "96b06b8c_seg1", "clip": "96b06b8c-2db7-515e-81e1-b9e36fe0dd23", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the pile of rocks on the side of the road.", "destination": "the pile of rocks on the side of the road", "start_xy": [427, 605], "ang_err_namer_deg": 13.083555668165237, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "96b06b8c_seg2", "clip": "96b06b8c-2db7-515e-81e1-b9e36fe0dd23", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the area with the yellow warning sign on the side of the road.", "destination": "the area with the yellow warning sign", "start_xy": [700, 590], "ang_err_namer_deg": 10.329437185356632, "ang_err_cycle_deg": 10.13684848074138, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "96b06b8c_seg1", "clip": "96b06b8c-2db7-515e-81e1-b9e36fe0dd23", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/96/96c56f3d-bd00-5607-8b22-e01dd420e00b.json b/labels/outdoor/96/96c56f3d-bd00-5607-8b22-e01dd420e00b.json
index 3e6ece550d44d43cddded7a08a663c49be038b7e..522748ae7ad6ae4898059cc0e6c49b26b0fa5d25 100644
--- a/labels/outdoor/96/96c56f3d-bd00-5607-8b22-e01dd420e00b.json
+++ b/labels/outdoor/96/96c56f3d-bd00-5607-8b22-e01dd420e00b.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the green railway signal.", "destination": "green railway signal", "start_xy": [526, 453], "ang_err_namer_deg": 0.30856896635543246, "ang_err_cycle_deg": 0.30856896635543246, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "96c56f3d_seg0", "clip": "96c56f3d-bd00-5607-8b22-e01dd420e00b", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the yellow sign post by the side of the tracks.", "destination": "yellow sign post", "start_xy": [673, 506], "ang_err_namer_deg": 6.990649634917769, "ang_err_cycle_deg": 7.572860872108997, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "96c56f3d_seg1", "clip": "96c56f3d-bd00-5607-8b22-e01dd420e00b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the railway pole along the track.", "destination": "railway pole", "start_xy": [502, 328], "ang_err_namer_deg": 11.968797212398606, "ang_err_cycle_deg": 11.645875600368674, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "96c56f3d_seg2", "clip": "96c56f3d-bd00-5607-8b22-e01dd420e00b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the yellow sign post by the side of the tracks.", "destination": "yellow sign post", "start_xy": [673, 506], "ang_err_namer_deg": 6.990649634917769, "ang_err_cycle_deg": 7.572860872108997, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "96c56f3d_seg1", "clip": "96c56f3d-bd00-5607-8b22-e01dd420e00b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the railway pole along the track.", "destination": "railway pole", "start_xy": [502, 328], "ang_err_namer_deg": 11.968797212398606, "ang_err_cycle_deg": 11.645875600368674, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "96c56f3d_seg2", "clip": "96c56f3d-bd00-5607-8b22-e01dd420e00b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/97/9728fcbe-e69d-575e-841d-b51a6d4b4d4a.json b/labels/outdoor/97/9728fcbe-e69d-575e-841d-b51a6d4b4d4a.json
index 8e05ab6309fb0c777629da1d2f0d9098a0d276e7..057211bf03d038afa3658564b093bdb151154133 100644
--- a/labels/outdoor/97/9728fcbe-e69d-575e-841d-b51a6d4b4d4a.json
+++ b/labels/outdoor/97/9728fcbe-e69d-575e-841d-b51a6d4b4d4a.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the yellow sign with the number 9.", "destination": "the yellow sign with the number 9", "start_xy": [625, 578], "ang_err_namer_deg": 6.016958265279224, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9728fcbe_seg0", "clip": "9728fcbe-e69d-575e-841d-b51a6d4b4d4a", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the yellow sign along the tracks.", "destination": "yellow sign", "start_xy": [646, 472], "ang_err_namer_deg": 5.070887152393441, "ang_err_cycle_deg": 15.006443804721181, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "9728fcbe_seg1", "clip": "9728fcbe-e69d-575e-841d-b51a6d4b4d4a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the yellow sign by the tracks.", "destination": "the yellow sign", "start_xy": [612, 454], "ang_err_namer_deg": 0.34480273460618066, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "9728fcbe_seg2", "clip": "9728fcbe-e69d-575e-841d-b51a6d4b4d4a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the yellow sign along the tracks.", "destination": "yellow sign", "start_xy": [646, 472], "ang_err_namer_deg": 5.070887152393441, "ang_err_cycle_deg": 15.006443804721181, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "9728fcbe_seg1", "clip": "9728fcbe-e69d-575e-841d-b51a6d4b4d4a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/97/97a0e4bc-a51e-5b9f-b424-88924484df5b.json b/labels/outdoor/97/97a0e4bc-a51e-5b9f-b424-88924484df5b.json
index 4a419d8f57bf4b2916f2c05aa4ef642d8e163ab1..0ef696da3c69bb07944b33f2ec7eb95ed1153dfa 100644
--- a/labels/outdoor/97/97a0e4bc-a51e-5b9f-b424-88924484df5b.json
+++ b/labels/outdoor/97/97a0e4bc-a51e-5b9f-b424-88924484df5b.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the stone wall along the side of the road.", "destination": "stone wall", "start_xy": [489, 515], "ang_err_namer_deg": 2.35153015555605, "ang_err_cycle_deg": 2.6141202148535703, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "97a0e4bc_seg0", "clip": "97a0e4bc-a51e-5b9f-b424-88924484df5b", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the silver van.", "destination": "the silver van", "start_xy": [547, 536], "ang_err_namer_deg": 8.501161731085178, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "97a0e4bc_seg1", "clip": "97a0e4bc-a51e-5b9f-b424-88924484df5b", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 27, "instruction": "Go to the area where the road curves along the lake shore.", "destination": "the area where the road curves along the lake shore", "start_xy": [485, 555], "ang_err_namer_deg": 10.198635243709406, "ang_err_cycle_deg": 9.673526861709513, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "97a0e4bc_seg2", "clip": "97a0e4bc-a51e-5b9f-b424-88924484df5b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 16, "t_end": 27, "instruction": "Go to the area where the road curves along the lake shore.", "destination": "the area where the road curves along the lake shore", "start_xy": [485, 555], "ang_err_namer_deg": 10.198635243709406, "ang_err_cycle_deg": 9.673526861709513, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "97a0e4bc_seg2", "clip": "97a0e4bc-a51e-5b9f-b424-88924484df5b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/98/98ff0fe3-702b-54ed-8fd3-e8fbb765b359.json b/labels/outdoor/98/98ff0fe3-702b-54ed-8fd3-e8fbb765b359.json
index d1c23b471c0bc199e3200372d25a057fdc3c1fed..64021aab287cad5acf7da64fe878fdef5911f2c9 100644
--- a/labels/outdoor/98/98ff0fe3-702b-54ed-8fd3-e8fbb765b359.json
+++ b/labels/outdoor/98/98ff0fe3-702b-54ed-8fd3-e8fbb765b359.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road near the trees", "start_xy": [486, 487], "ang_err_namer_deg": 6.306097899140361, "ang_err_cycle_deg": 6.918679527962276, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "98ff0fe3_seg0", "clip": "98ff0fe3-702b-54ed-8fd3-e8fbb765b359", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the intersection with the dirt road.", "destination": "the intersection with the dirt road", "start_xy": [485, 505], "ang_err_namer_deg": 8.546019646053523, "ang_err_cycle_deg": 4.532763452214489, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "98ff0fe3_seg1", "clip": "98ff0fe3-702b-54ed-8fd3-e8fbb765b359", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the intersection with the dirt road.", "destination": "the intersection with the dirt road", "start_xy": [485, 505], "ang_err_namer_deg": 8.546019646053523, "ang_err_cycle_deg": 4.532763452214489, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "98ff0fe3_seg1", "clip": "98ff0fe3-702b-54ed-8fd3-e8fbb765b359", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/99/9982c049-6044-53ef-81dd-5f963f0c658e.json b/labels/outdoor/99/9982c049-6044-53ef-81dd-5f963f0c658e.json
index a411725e68411ad6badaf8e86ad02617d528cd5a..b03f1748be67d23b40864e337e1192c3a7c1f943 100644
--- a/labels/outdoor/99/9982c049-6044-53ef-81dd-5f963f0c658e.json
+++ b/labels/outdoor/99/9982c049-6044-53ef-81dd-5f963f0c658e.json
@@ -1 +1 @@
-[{"t0": 22, "t_end": 57, "instruction": "Go to the area with the yellow building in the distance.", "destination": "the yellow building", "start_xy": [498, 519], "ang_err_namer_deg": 3.7751142709439436, "ang_err_cycle_deg": 2.904631115062805, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "9982c049_seg0", "clip": "9982c049-6044-53ef-81dd-5f963f0c658e", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 20, "instruction": "Go to the pedestrian crossing.", "destination": "the pedestrian crossing", "start_xy": [451, 709], "ang_err_namer_deg": 1.4254509014597572, "ang_err_cycle_deg": 4.224787310739827, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "9982c049_seg1", "clip": "9982c049-6044-53ef-81dd-5f963f0c658e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 20, "instruction": "Go to the pedestrian crossing.", "destination": "the pedestrian crossing", "start_xy": [451, 709], "ang_err_namer_deg": 1.4254509014597572, "ang_err_cycle_deg": 4.224787310739827, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "9982c049_seg1", "clip": "9982c049-6044-53ef-81dd-5f963f0c658e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9a/9a071a60-c323-53f6-8e6a-e55a3a89ed18.json b/labels/outdoor/9a/9a071a60-c323-53f6-8e6a-e55a3a89ed18.json
index c9dc650624f0a0165fcbc3e4b4bd5aff308352a8..47e89559f7a9582c5422a1d81b88838c354765c7 100644
--- a/labels/outdoor/9a/9a071a60-c323-53f6-8e6a-e55a3a89ed18.json
+++ b/labels/outdoor/9a/9a071a60-c323-53f6-8e6a-e55a3a89ed18.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the UPS truck parked on the left side of the street.", "destination": "the UPS truck", "start_xy": [490, 620], "ang_err_namer_deg": 5.302162689058556, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9a071a60_seg0", "clip": "9a071a60-c323-53f6-8e6a-e55a3a89ed18", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the area by the white van parked on the right side of the street.", "destination": "the white van", "start_xy": [650, 600], "ang_err_namer_deg": 5.732689020716982, "ang_err_cycle_deg": 5.564927231637833, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "9a071a60_seg1", "clip": "9a071a60-c323-53f6-8e6a-e55a3a89ed18", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 34, "instruction": "Go to the area by the white van parked on the right side of the street.", "destination": "the white van", "start_xy": [650, 600], "ang_err_namer_deg": 5.732689020716982, "ang_err_cycle_deg": 5.564927231637833, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "9a071a60_seg1", "clip": "9a071a60-c323-53f6-8e6a-e55a3a89ed18", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9a/9a40e8f5-db6c-5971-818c-de265e32e668.json b/labels/outdoor/9a/9a40e8f5-db6c-5971-818c-de265e32e668.json
index eb50f889ac3738aa218a017de203c217c3aaa748..e6691328600e812dcd72d5721d13f264ef1b4a6d 100644
--- a/labels/outdoor/9a/9a40e8f5-db6c-5971-818c-de265e32e668.json
+++ b/labels/outdoor/9a/9a40e8f5-db6c-5971-818c-de265e32e668.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area of the road where it begins to bend slightly right.", "destination": "the bend in the road", "start_xy": [497, 743], "ang_err_namer_deg": 9.811519942051586, "ang_err_cycle_deg": 10.49029262822054, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "9a40e8f5_seg0", "clip": "9a40e8f5-db6c-5971-818c-de265e32e668", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area of the road where it curves slightly to the right.", "destination": "the curve in the road", "start_xy": [490, 745], "ang_err_namer_deg": 5.97156792435076, "ang_err_cycle_deg": 6.395704111949537, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9a40e8f5_seg1", "clip": "9a40e8f5-db6c-5971-818c-de265e32e668", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area of the road where it curves slightly to the right.", "destination": "the curve in the road", "start_xy": [490, 745], "ang_err_namer_deg": 5.97156792435076, "ang_err_cycle_deg": 6.395704111949537, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9a40e8f5_seg1", "clip": "9a40e8f5-db6c-5971-818c-de265e32e668", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9a/9ab0d4dc-894d-5f84-9eca-6a346ff29d13.json b/labels/outdoor/9a/9ab0d4dc-894d-5f84-9eca-6a346ff29d13.json
index 6eb80c65e6582aef35e35db5b25c6f348f4d3dcc..896597fae07ac74d641c9147422b3d7d6366f382 100644
--- a/labels/outdoor/9a/9ab0d4dc-894d-5f84-9eca-6a346ff29d13.json
+++ b/labels/outdoor/9a/9ab0d4dc-894d-5f84-9eca-6a346ff29d13.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the utility pole on the left side of the road.", "destination": "the utility pole on the left", "start_xy": [514, 643], "ang_err_namer_deg": 9.812309801432747, "ang_err_cycle_deg": 9.53583574623631, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "9ab0d4dc_seg0", "clip": "9ab0d4dc-894d-5f84-9eca-6a346ff29d13", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 34, "instruction": "Go to the utility pole on the right side of the road.", "destination": "the utility pole on the right side of the road", "start_xy": [647, 444], "ang_err_namer_deg": 11.330484917051185, "ang_err_cycle_deg": 10.717669832084198, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "9ab0d4dc_seg1", "clip": "9ab0d4dc-894d-5f84-9eca-6a346ff29d13", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the white road sign on the right.", "destination": "the white road sign on the right", "start_xy": [551, 630], "ang_err_namer_deg": 3.9529046859481447, "ang_err_cycle_deg": 3.9529046859481447, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "9ab0d4dc_seg2", "clip": "9ab0d4dc-894d-5f84-9eca-6a346ff29d13", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 20, "t_end": 34, "instruction": "Go to the utility pole on the right side of the road.", "destination": "the utility pole on the right side of the road", "start_xy": [647, 444], "ang_err_namer_deg": 11.330484917051185, "ang_err_cycle_deg": 10.717669832084198, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "9ab0d4dc_seg1", "clip": "9ab0d4dc-894d-5f84-9eca-6a346ff29d13", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 18, "instruction": "Go to the white road sign on the right.", "destination": "the white road sign on the right", "start_xy": [551, 630], "ang_err_namer_deg": 3.9529046859481447, "ang_err_cycle_deg": 3.9529046859481447, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "9ab0d4dc_seg2", "clip": "9ab0d4dc-894d-5f84-9eca-6a346ff29d13", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9b/9b17ac45-7661-5089-9e0c-11134fd51e11.json b/labels/outdoor/9b/9b17ac45-7661-5089-9e0c-11134fd51e11.json
index 53624292779e2b8bc298f92fb1a4dc3c63f17a1c..49865f4b2a4cf34b88b7e70c8999be1ab7bf2c16 100644
--- a/labels/outdoor/9b/9b17ac45-7661-5089-9e0c-11134fd51e11.json
+++ b/labels/outdoor/9b/9b17ac45-7661-5089-9e0c-11134fd51e11.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the small shed near the hillside.", "destination": "the small shed on the hillside", "start_xy": [673, 412], "ang_err_namer_deg": 10.937656489427692, "ang_err_cycle_deg": 9.944186587687206, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "9b17ac45_seg0", "clip": "9b17ac45-7661-5089-9e0c-11134fd51e11", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the railway signal.", "destination": "the railway signal", "start_xy": [485, 462], "ang_err_namer_deg": 5.951964830515236, "ang_err_cycle_deg": 5.756711452598882, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b17ac45_seg1", "clip": "9b17ac45-7661-5089-9e0c-11134fd51e11", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [529, 454], "ang_err_namer_deg": 2.9776295723540844, "ang_err_cycle_deg": 3.2698859193668235, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "9b17ac45_seg2", "clip": "9b17ac45-7661-5089-9e0c-11134fd51e11", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the railway signal.", "destination": "the railway signal", "start_xy": [485, 462], "ang_err_namer_deg": 5.951964830515236, "ang_err_cycle_deg": 5.756711452598882, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b17ac45_seg1", "clip": "9b17ac45-7661-5089-9e0c-11134fd51e11", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [529, 454], "ang_err_namer_deg": 2.9776295723540844, "ang_err_cycle_deg": 3.2698859193668235, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "9b17ac45_seg2", "clip": "9b17ac45-7661-5089-9e0c-11134fd51e11", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9b/9b4ceb50-1ce1-5014-a608-652fb959926f.json b/labels/outdoor/9b/9b4ceb50-1ce1-5014-a608-652fb959926f.json
index 872499dc8106d38f77c12c9b75bdaf8239281d08..3c6370176a2a27bc0bc1e890b1d392f166a03071 100644
--- a/labels/outdoor/9b/9b4ceb50-1ce1-5014-a608-652fb959926f.json
+++ b/labels/outdoor/9b/9b4ceb50-1ce1-5014-a608-652fb959926f.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the railway marker.", "destination": "railway marker", "start_xy": [634, 570], "ang_err_namer_deg": 12.612211195163413, "ang_err_cycle_deg": 12.72366239016173, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9b4ceb50_seg0", "clip": "9b4ceb50-1ce1-5014-a608-652fb959926f", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the pole with the black and white stripes.", "destination": "the pole with the black and white stripes", "start_xy": [421, 559], "ang_err_namer_deg": 12.558075353521959, "ang_err_cycle_deg": 12.558075353521959, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "9b4ceb50_seg1", "clip": "9b4ceb50-1ce1-5014-a608-652fb959926f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the railway marker.", "destination": "railway marker", "start_xy": [634, 570], "ang_err_namer_deg": 12.612211195163413, "ang_err_cycle_deg": 12.72366239016173, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9b4ceb50_seg0", "clip": "9b4ceb50-1ce1-5014-a608-652fb959926f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9b/9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5.json b/labels/outdoor/9b/9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5.json
index cce5526f7e4881003b9d360d886a2995cee73608..6c5932ba036bf9de3cfd8e2660aebe52f5357fcf 100644
--- a/labels/outdoor/9b/9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5.json
+++ b/labels/outdoor/9b/9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5.json
@@ -1 +1 @@
-[{"t0": 15, "t_end": 53, "instruction": "Go to the large tree on the right.", "destination": "the large tree", "start_xy": [519, 420], "ang_err_namer_deg": 2.9548751766733394, "ang_err_cycle_deg": 3.4490597319073224, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "9b4e4fb3_seg0", "clip": "9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 13, "instruction": "Go to the area by the large trash bin on the right side of the street.", "destination": "trash bin", "start_xy": [863, 757], "ang_err_namer_deg": 9.432982133336418, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "9b4e4fb3_seg1", "clip": "9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 53, "instruction": "Go to the large tree on the right.", "destination": "the large tree", "start_xy": [519, 420], "ang_err_namer_deg": 2.9548751766733394, "ang_err_cycle_deg": 3.4490597319073224, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "9b4e4fb3_seg0", "clip": "9b4e4fb3-8fe4-58b8-9c1d-9ab3b70d33c5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9b/9b7aaf9a-f7ce-53c8-ab04-d0a13642462d.json b/labels/outdoor/9b/9b7aaf9a-f7ce-53c8-ab04-d0a13642462d.json
index 0c31e89b5e7b8f71b5be389750ea251393715669..263d4a6579dd02fa243001dbcb88ca230ee22406 100644
--- a/labels/outdoor/9b/9b7aaf9a-f7ce-53c8-ab04-d0a13642462d.json
+++ b/labels/outdoor/9b/9b7aaf9a-f7ce-53c8-ab04-d0a13642462d.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area where people are sitting under the overpass bridge.", "destination": "the area where people are sitting under the overpass bridge", "start_xy": [625, 727], "ang_err_namer_deg": 12.035880043645102, "ang_err_cycle_deg": 11.01623655700255, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b7aaf9a_seg0", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}, {"t0": 45, "t_end": 55, "instruction": "Go to the white car parked under the overpass.", "destination": "the white car", "start_xy": [381, 841], "ang_err_namer_deg": 0.7312840141765797, "ang_err_cycle_deg": 19.584763206777644, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "9b7aaf9a_seg1", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 33, "instruction": "Go to the area underneath the bridge.", "destination": "the area underneath the bridge", "start_xy": [100, 600], "ang_err_namer_deg": 13.808587062555576, "ang_err_cycle_deg": 13.50154850813876, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b7aaf9a_seg2", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 14, "instruction": "Go to the person walking on the sidewalk under the bridge.", "destination": "the person walking on the sidewalk", "start_xy": [551, 673], "ang_err_namer_deg": 13.064900652916666, "ang_err_cycle_deg": 13.545820618273186, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "9b7aaf9a_seg3", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the area where people are sitting under the overpass bridge.", "destination": "the area where people are sitting under the overpass bridge", "start_xy": [625, 727], "ang_err_namer_deg": 12.035880043645102, "ang_err_cycle_deg": 11.01623655700255, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b7aaf9a_seg0", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}, {"t0": 16, "t_end": 33, "instruction": "Go to the area underneath the bridge.", "destination": "the area underneath the bridge", "start_xy": [100, 600], "ang_err_namer_deg": 13.808587062555576, "ang_err_cycle_deg": 13.50154850813876, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9b7aaf9a_seg2", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 14, "instruction": "Go to the person walking on the sidewalk under the bridge.", "destination": "the person walking on the sidewalk", "start_xy": [551, 673], "ang_err_namer_deg": 13.064900652916666, "ang_err_cycle_deg": 13.545820618273186, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "9b7aaf9a_seg3", "clip": "9b7aaf9a-f7ce-53c8-ab04-d0a13642462d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9b/9baae878-d8c5-56b7-bf84-6fc68536a0b2.json b/labels/outdoor/9b/9baae878-d8c5-56b7-bf84-6fc68536a0b2.json
index f996d0818970f9be07186df9eac891e682302d7f..36385cf00ac471a3f10d7e6589e349a9683cc8cf 100644
--- a/labels/outdoor/9b/9baae878-d8c5-56b7-bf84-6fc68536a0b2.json
+++ b/labels/outdoor/9b/9baae878-d8c5-56b7-bf84-6fc68536a0b2.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the large blue road sign.", "destination": "the large blue road sign", "start_xy": [454, 571], "ang_err_namer_deg": 0.873459258172686, "ang_err_cycle_deg": 0.873459258172686, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9baae878_seg0", "clip": "9baae878-d8c5-56b7-bf84-6fc68536a0b2", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area by the white van on the right.", "destination": "the area by the white van", "start_xy": [405, 745], "ang_err_namer_deg": 3.405229892784408, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "9baae878_seg1", "clip": "9baae878-d8c5-56b7-bf84-6fc68536a0b2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the large blue road sign.", "destination": "the large blue road sign", "start_xy": [454, 571], "ang_err_namer_deg": 0.873459258172686, "ang_err_cycle_deg": 0.873459258172686, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9baae878_seg0", "clip": "9baae878-d8c5-56b7-bf84-6fc68536a0b2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9c/9c75838a-3bbc-53d4-b175-4a3540c9d683.json b/labels/outdoor/9c/9c75838a-3bbc-53d4-b175-4a3540c9d683.json
index 5bbffad9e9dd16ab31bf7603418475c2b08a9b08..56b9221ec7f5ead23ff89bbd47ef632f73c1dea3 100644
--- a/labels/outdoor/9c/9c75838a-3bbc-53d4-b175-4a3540c9d683.json
+++ b/labels/outdoor/9c/9c75838a-3bbc-53d4-b175-4a3540c9d683.json
@@ -1 +1 @@
-[{"t0": 13, "t_end": 48, "instruction": "Go to the silver van.", "destination": "the silver van", "start_xy": [490, 570], "ang_err_namer_deg": 1.5065598441781118, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "9c75838a_seg0", "clip": "9c75838a-3bbc-53d4-b175-4a3540c9d683", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area by the road warning signs.", "destination": "the area by the road warning signs", "start_xy": [646, 530], "ang_err_namer_deg": 9.692941883104425, "ang_err_cycle_deg": 9.833259290897075, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "9c75838a_seg1", "clip": "9c75838a-3bbc-53d4-b175-4a3540c9d683", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the area by the road warning signs.", "destination": "the area by the road warning signs", "start_xy": [646, 530], "ang_err_namer_deg": 9.692941883104425, "ang_err_cycle_deg": 9.833259290897075, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "9c75838a_seg1", "clip": "9c75838a-3bbc-53d4-b175-4a3540c9d683", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9c/9ce107bb-1589-5520-9b08-4f1a98efabb1.json b/labels/outdoor/9c/9ce107bb-1589-5520-9b08-4f1a98efabb1.json
index 876f277a50fa60e0ad53437759b4b55660137a68..6652474608eae2ac4b2e3316384aa070533dd95f 100644
--- a/labels/outdoor/9c/9ce107bb-1589-5520-9b08-4f1a98efabb1.json
+++ b/labels/outdoor/9c/9ce107bb-1589-5520-9b08-4f1a98efabb1.json
@@ -1 +1 @@
-[{"t0": 40, "t_end": 72, "instruction": "Go to the stone wall section decorated with painted tires.", "destination": "the stone wall section decorated with painted tires", "start_xy": [194, 741], "ang_err_namer_deg": 12.683591832477754, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9ce107bb_seg0", "clip": "9ce107bb-1589-5520-9b08-4f1a98efabb1", "source": "spatialvid_v3"}, {"t0": 6, "t_end": 38, "instruction": "Go to the entrance sign at the side of the road.", "destination": "the entrance sign", "start_xy": [786, 697], "ang_err_namer_deg": 10.53334689171579, "ang_err_cycle_deg": 14.342268597714686, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9ce107bb_seg1", "clip": "9ce107bb-1589-5520-9b08-4f1a98efabb1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 6, "t_end": 38, "instruction": "Go to the entrance sign at the side of the road.", "destination": "the entrance sign", "start_xy": [786, 697], "ang_err_namer_deg": 10.53334689171579, "ang_err_cycle_deg": 14.342268597714686, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9ce107bb_seg1", "clip": "9ce107bb-1589-5520-9b08-4f1a98efabb1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9d/9d8e409e-a860-521f-813e-673e47022b3d.json b/labels/outdoor/9d/9d8e409e-a860-521f-813e-673e47022b3d.json
index c1a09a6931da8f7b4ace5f6f3b6da71e9c2f7b92..fb340a2a9b4fce6d1f14ee20a0b4e39393e8540b 100644
--- a/labels/outdoor/9d/9d8e409e-a860-521f-813e-673e47022b3d.json
+++ b/labels/outdoor/9d/9d8e409e-a860-521f-813e-673e47022b3d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the trees along the road.", "destination": "the area with the trees along the road", "start_xy": [585, 745], "ang_err_namer_deg": 10.99584080584655, "ang_err_cycle_deg": 1.8017297590644765, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9d8e409e_seg0", "clip": "9d8e409e-a860-521f-813e-673e47022b3d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the house with the dark roof along the road.", "destination": "the house with the dark roof", "start_xy": [622, 558], "ang_err_namer_deg": 12.841099638525172, "ang_err_cycle_deg": 4.670692285133597, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9d8e409e_seg1", "clip": "9d8e409e-a860-521f-813e-673e47022b3d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the person painting the wall.", "destination": "the person painting the wall", "start_xy": [523, 743], "ang_err_namer_deg": 6.1518374743440205, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "9d8e409e_seg2", "clip": "9d8e409e-a860-521f-813e-673e47022b3d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the trees along the road.", "destination": "the area with the trees along the road", "start_xy": [585, 745], "ang_err_namer_deg": 10.99584080584655, "ang_err_cycle_deg": 1.8017297590644765, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9d8e409e_seg0", "clip": "9d8e409e-a860-521f-813e-673e47022b3d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the house with the dark roof along the road.", "destination": "the house with the dark roof", "start_xy": [622, 558], "ang_err_namer_deg": 12.841099638525172, "ang_err_cycle_deg": 4.670692285133597, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9d8e409e_seg1", "clip": "9d8e409e-a860-521f-813e-673e47022b3d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9d/9ddd6304-7ef8-5833-a18c-4b46847f9b64.json b/labels/outdoor/9d/9ddd6304-7ef8-5833-a18c-4b46847f9b64.json
index 92c65e652883cb4093802d5a1445d88c8ec58ddd..32d4993d4da60a92450f7c583720aabf7ce2ed79 100644
--- a/labels/outdoor/9d/9ddd6304-7ef8-5833-a18c-4b46847f9b64.json
+++ b/labels/outdoor/9d/9ddd6304-7ef8-5833-a18c-4b46847f9b64.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the wooden house by the tracks.", "destination": "wooden house", "start_xy": [481, 454], "ang_err_namer_deg": 9.027023991647404, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "9ddd6304_seg0", "clip": "9ddd6304-7ef8-5833-a18c-4b46847f9b64", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the signal pole.", "destination": "the signal pole", "start_xy": [526, 403], "ang_err_namer_deg": 12.233709332610811, "ang_err_cycle_deg": 12.233709332610811, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "9ddd6304_seg1", "clip": "9ddd6304-7ef8-5833-a18c-4b46847f9b64", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the railway signal lights.", "destination": "the railway signal lights", "start_xy": [487, 456], "ang_err_namer_deg": 1.2322300531285908, "ang_err_cycle_deg": 2.159341820156205, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "9ddd6304_seg2", "clip": "9ddd6304-7ef8-5833-a18c-4b46847f9b64", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the train signal post.", "destination": "the train signal post", "start_xy": [479, 482], "ang_err_namer_deg": 0.046456350172365234, "ang_err_cycle_deg": 0.44318195262110116, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "9ddd6304_seg3", "clip": "9ddd6304-7ef8-5833-a18c-4b46847f9b64", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the train signal post.", "destination": "the train signal post", "start_xy": [479, 482], "ang_err_namer_deg": 0.046456350172365234, "ang_err_cycle_deg": 0.44318195262110116, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "9ddd6304_seg3", "clip": "9ddd6304-7ef8-5833-a18c-4b46847f9b64", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9e/9e962980-16cc-5235-96db-1af559c8b26f.json b/labels/outdoor/9e/9e962980-16cc-5235-96db-1af559c8b26f.json
index 915a8d9eaccbedfd2345de8a53e931539dc3287b..48dab9d6357f53970c6ff56bdfa2bb42690057da 100644
--- a/labels/outdoor/9e/9e962980-16cc-5235-96db-1af559c8b26f.json
+++ b/labels/outdoor/9e/9e962980-16cc-5235-96db-1af559c8b26f.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the stone wall.", "destination": "the end of the stone wall", "start_xy": [482, 709], "ang_err_namer_deg": 12.500675622540104, "ang_err_cycle_deg": 2.169240411327423, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9e962980_seg0", "clip": "9e962980-16cc-5235-96db-1af559c8b26f", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [765, 612], "ang_err_namer_deg": 3.7098863947529437, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "9e962980_seg1", "clip": "9e962980-16cc-5235-96db-1af559c8b26f", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the stone wall.", "destination": "the stone wall", "start_xy": [100, 700], "ang_err_namer_deg": 8.385702615383169, "ang_err_cycle_deg": 10.56600522302902, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "9e962980_seg2", "clip": "9e962980-16cc-5235-96db-1af559c8b26f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the stone wall.", "destination": "the end of the stone wall", "start_xy": [482, 709], "ang_err_namer_deg": 12.500675622540104, "ang_err_cycle_deg": 2.169240411327423, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9e962980_seg0", "clip": "9e962980-16cc-5235-96db-1af559c8b26f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9e/9ead44b3-0664-5d13-b4ac-5994d19a78fc.json b/labels/outdoor/9e/9ead44b3-0664-5d13-b4ac-5994d19a78fc.json
index 34f182dfa1421426fd9213f4486da45658c0b4a4..046ad057dace2b7ee1eef6b409178245b98b6c78 100644
--- a/labels/outdoor/9e/9ead44b3-0664-5d13-b4ac-5994d19a78fc.json
+++ b/labels/outdoor/9e/9ead44b3-0664-5d13-b4ac-5994d19a78fc.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the concrete retaining wall structure.", "destination": "the concrete retaining wall structure", "start_xy": [650, 550], "ang_err_namer_deg": 2.5213078610962456, "ang_err_cycle_deg": 0.5571083805085513, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "9ead44b3_seg0", "clip": "9ead44b3-0664-5d13-b4ac-5994d19a78fc", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area by the bus stop sign.", "destination": "bus stop sign", "start_xy": [860, 593], "ang_err_namer_deg": 8.910889372407194, "ang_err_cycle_deg": 6.534689199448016, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "9ead44b3_seg1", "clip": "9ead44b3-0664-5d13-b4ac-5994d19a78fc", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the building under construction.", "destination": "the building under construction", "start_xy": [372, 427], "ang_err_namer_deg": 12.356098194813427, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "9ead44b3_seg2", "clip": "9ead44b3-0664-5d13-b4ac-5994d19a78fc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the concrete retaining wall structure.", "destination": "the concrete retaining wall structure", "start_xy": [650, 550], "ang_err_namer_deg": 2.5213078610962456, "ang_err_cycle_deg": 0.5571083805085513, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "9ead44b3_seg0", "clip": "9ead44b3-0664-5d13-b4ac-5994d19a78fc", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area by the bus stop sign.", "destination": "bus stop sign", "start_xy": [860, 593], "ang_err_namer_deg": 8.910889372407194, "ang_err_cycle_deg": 6.534689199448016, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "9ead44b3_seg1", "clip": "9ead44b3-0664-5d13-b4ac-5994d19a78fc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9e/9efcedaa-bdda-5ed5-bc23-2b54b3975cc6.json b/labels/outdoor/9e/9efcedaa-bdda-5ed5-bc23-2b54b3975cc6.json
index 144450eabf3eb8d41545d555474a99e21a0f069a..e6f3884c26506974e7be2a7634d077cfdca58713 100644
--- a/labels/outdoor/9e/9efcedaa-bdda-5ed5-bc23-2b54b3975cc6.json
+++ b/labels/outdoor/9e/9efcedaa-bdda-5ed5-bc23-2b54b3975cc6.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the brown barn.", "destination": "the brown barn", "start_xy": [269, 574], "ang_err_namer_deg": 1.5153100185350252, "ang_err_cycle_deg": 1.5153100185350252, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "9efcedaa_seg0", "clip": "9efcedaa-bdda-5ed5-bc23-2b54b3975cc6", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 40, "instruction": "Go to the green recycling bins.", "destination": "the green recycling bins", "start_xy": [792, 639], "ang_err_namer_deg": 5.45010112910151, "ang_err_cycle_deg": 5.45010112910151, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "9efcedaa_seg1", "clip": "9efcedaa-bdda-5ed5-bc23-2b54b3975cc6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the brown wooden shed with the red-tiled roof.", "destination": "the brown wooden shed with the red-tiled roof", "start_xy": [654, 482], "ang_err_namer_deg": 11.933776885021988, "ang_err_cycle_deg": 4.403229132095771, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "9efcedaa_seg2", "clip": "9efcedaa-bdda-5ed5-bc23-2b54b3975cc6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 40, "instruction": "Go to the green recycling bins.", "destination": "the green recycling bins", "start_xy": [792, 639], "ang_err_namer_deg": 5.45010112910151, "ang_err_cycle_deg": 5.45010112910151, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "9efcedaa_seg1", "clip": "9efcedaa-bdda-5ed5-bc23-2b54b3975cc6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 13, "instruction": "Go to the brown wooden shed with the red-tiled roof.", "destination": "the brown wooden shed with the red-tiled roof", "start_xy": [654, 482], "ang_err_namer_deg": 11.933776885021988, "ang_err_cycle_deg": 4.403229132095771, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "9efcedaa_seg2", "clip": "9efcedaa-bdda-5ed5-bc23-2b54b3975cc6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9f/9f117a7a-05fa-56e0-b7c5-61eb93407e87.json b/labels/outdoor/9f/9f117a7a-05fa-56e0-b7c5-61eb93407e87.json
index a5f16b8053516b062032afc854c218aa385dd40f..5d2e62a16b99618df28e82d5a817bca802e64de0 100644
--- a/labels/outdoor/9f/9f117a7a-05fa-56e0-b7c5-61eb93407e87.json
+++ b/labels/outdoor/9f/9f117a7a-05fa-56e0-b7c5-61eb93407e87.json
@@ -1 +1 @@
-[{"t0": 31, "t_end": 51, "instruction": "Go to the road sign in the distance.", "destination": "the road sign", "start_xy": [548, 512], "ang_err_namer_deg": 13.846446625345896, "ang_err_cycle_deg": 13.620730505376077, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "9f117a7a_seg0", "clip": "9f117a7a-05fa-56e0-b7c5-61eb93407e87", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 29, "instruction": "Go to the information sign.", "destination": "information sign", "start_xy": [412, 506], "ang_err_namer_deg": 0.6429605538768642, "ang_err_cycle_deg": 0.7991040460078509, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "9f117a7a_seg1", "clip": "9f117a7a-05fa-56e0-b7c5-61eb93407e87", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 11, "instruction": "Go to the sign by the hedge.", "destination": "the sign by the hedge", "start_xy": [498, 516], "ang_err_namer_deg": 7.771544885105534, "ang_err_cycle_deg": 9.137502966100945, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "9f117a7a_seg2", "clip": "9f117a7a-05fa-56e0-b7c5-61eb93407e87", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 31, "t_end": 51, "instruction": "Go to the road sign in the distance.", "destination": "the road sign", "start_xy": [548, 512], "ang_err_namer_deg": 13.846446625345896, "ang_err_cycle_deg": 13.620730505376077, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "9f117a7a_seg0", "clip": "9f117a7a-05fa-56e0-b7c5-61eb93407e87", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 11, "instruction": "Go to the sign by the hedge.", "destination": "the sign by the hedge", "start_xy": [498, 516], "ang_err_namer_deg": 7.771544885105534, "ang_err_cycle_deg": 9.137502966100945, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "9f117a7a_seg2", "clip": "9f117a7a-05fa-56e0-b7c5-61eb93407e87", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/9f/9f6abf9d-48b8-518a-aeba-97dc37dbbb70.json b/labels/outdoor/9f/9f6abf9d-48b8-518a-aeba-97dc37dbbb70.json
index 3fec8d235f94407d7d0e5e0afe79fd8ed23ca361..2bb21c750c325df7b34632eee4d1c22c55a87aeb 100644
--- a/labels/outdoor/9f/9f6abf9d-48b8-518a-aeba-97dc37dbbb70.json
+++ b/labels/outdoor/9f/9f6abf9d-48b8-518a-aeba-97dc37dbbb70.json
@@ -1 +1 @@
-[{"t0": 64, "t_end": 74, "instruction": "Go to the yellow road sign at the curve.", "destination": "the yellow road sign", "start_xy": [930, 745], "ang_err_namer_deg": 10.96969113049591, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "9f6abf9d_seg0", "clip": "9f6abf9d-48b8-518a-aeba-97dc37dbbb70", "source": "spatialvid_v3"}, {"t0": 45, "t_end": 62, "instruction": "Go to the area by the steep dirt embankment.", "destination": "the area by the steep dirt embankment", "start_xy": [750, 750], "ang_err_namer_deg": 8.074887684734545, "ang_err_cycle_deg": 2.6299966587524004, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9f6abf9d_seg1", "clip": "9f6abf9d-48b8-518a-aeba-97dc37dbbb70", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 43, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [515, 692], "ang_err_namer_deg": 12.823304097181532, "ang_err_cycle_deg": 12.765086632304946, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "9f6abf9d_seg2", "clip": "9f6abf9d-48b8-518a-aeba-97dc37dbbb70", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 45, "t_end": 62, "instruction": "Go to the area by the steep dirt embankment.", "destination": "the area by the steep dirt embankment", "start_xy": [750, 750], "ang_err_namer_deg": 8.074887684734545, "ang_err_cycle_deg": 2.6299966587524004, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "9f6abf9d_seg1", "clip": "9f6abf9d-48b8-518a-aeba-97dc37dbbb70", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a0/a06a59f4-f927-5b96-b4f3-87db38f771b3.json b/labels/outdoor/a0/a06a59f4-f927-5b96-b4f3-87db38f771b3.json
index 8638e5ef282e565500529e5ca882ab977c526601..0f7d575cf43d90e108737b381f0eb6db3cf4a318 100644
--- a/labels/outdoor/a0/a06a59f4-f927-5b96-b4f3-87db38f771b3.json
+++ b/labels/outdoor/a0/a06a59f4-f927-5b96-b4f3-87db38f771b3.json
@@ -1 +1 @@
-[{"t0": 13, "t_end": 51, "instruction": "Go to Hotel Spinne.", "destination": "Hotel Spinne", "start_xy": [427, 483], "ang_err_namer_deg": 1.2958653730022431, "ang_err_cycle_deg": 0.9847172077551773, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a06a59f4_seg0", "clip": "a06a59f4-f927-5b96-b4f3-87db38f771b3", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 11, "instruction": "Go to the cow statue.", "destination": "the cow statue outside the restaurant", "start_xy": [751, 557], "ang_err_namer_deg": 11.512607977879739, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "a06a59f4_seg1", "clip": "a06a59f4-f927-5b96-b4f3-87db38f771b3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 51, "instruction": "Go to Hotel Spinne.", "destination": "Hotel Spinne", "start_xy": [427, 483], "ang_err_namer_deg": 1.2958653730022431, "ang_err_cycle_deg": 0.9847172077551773, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a06a59f4_seg0", "clip": "a06a59f4-f927-5b96-b4f3-87db38f771b3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a1/a11ea0e4-6fbd-5b4f-8a20-9578565b6319.json b/labels/outdoor/a1/a11ea0e4-6fbd-5b4f-8a20-9578565b6319.json
index 80ce913b13f9d96e7828e679d5390f1403cc5373..cb798ac8bd7cce274cbfc45fd36ca6cb0a70bfd7 100644
--- a/labels/outdoor/a1/a11ea0e4-6fbd-5b4f-8a20-9578565b6319.json
+++ b/labels/outdoor/a1/a11ea0e4-6fbd-5b4f-8a20-9578565b6319.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the road sign that says Kolsete.", "destination": "the road sign that says Kolsete", "start_xy": [454, 640], "ang_err_namer_deg": 9.487963785479428, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "a11ea0e4_seg0", "clip": "a11ea0e4-6fbd-5b4f-8a20-9578565b6319", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [450, 700], "ang_err_namer_deg": 3.2484173748061513, "ang_err_cycle_deg": 3.7188596711384525, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "a11ea0e4_seg1", "clip": "a11ea0e4-6fbd-5b4f-8a20-9578565b6319", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area between the rock walls along the road.", "destination": "the area between the rock walls along the road", "start_xy": [487, 559], "ang_err_namer_deg": 3.3361370237615, "ang_err_cycle_deg": 3.3361370237615, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "a11ea0e4_seg2", "clip": "a11ea0e4-6fbd-5b4f-8a20-9578565b6319", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [450, 700], "ang_err_namer_deg": 3.2484173748061513, "ang_err_cycle_deg": 3.7188596711384525, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "a11ea0e4_seg1", "clip": "a11ea0e4-6fbd-5b4f-8a20-9578565b6319", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area between the rock walls along the road.", "destination": "the area between the rock walls along the road", "start_xy": [487, 559], "ang_err_namer_deg": 3.3361370237615, "ang_err_cycle_deg": 3.3361370237615, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "a11ea0e4_seg2", "clip": "a11ea0e4-6fbd-5b4f-8a20-9578565b6319", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a2/a20b6202-bb42-598f-83f9-77001d464ebf.json b/labels/outdoor/a2/a20b6202-bb42-598f-83f9-77001d464ebf.json
index 052fe07690cefb927d9c4363da95c7261dea3b57..dea0835a50f023ec90499ff74c069d6278bf210d 100644
--- a/labels/outdoor/a2/a20b6202-bb42-598f-83f9-77001d464ebf.json
+++ b/labels/outdoor/a2/a20b6202-bb42-598f-83f9-77001d464ebf.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the rock formation in the distance.", "destination": "the rock formation in the distance", "start_xy": [861, 370], "ang_err_namer_deg": 13.451318228782743, "ang_err_cycle_deg": 7.057751645985607, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "a20b6202_seg0", "clip": "a20b6202-bb42-598f-83f9-77001d464ebf", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the large rock formation on the right side of the road.", "destination": "large rock formation", "start_xy": [765, 420], "ang_err_namer_deg": 6.344828303659578, "ang_err_cycle_deg": 2.8400676517650947, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "a20b6202_seg1", "clip": "a20b6202-bb42-598f-83f9-77001d464ebf", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the large rock formation on the right side of the road.", "destination": "large rock formation", "start_xy": [765, 420], "ang_err_namer_deg": 6.344828303659578, "ang_err_cycle_deg": 2.8400676517650947, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "a20b6202_seg1", "clip": "a20b6202-bb42-598f-83f9-77001d464ebf", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a2/a29aa68e-80d6-5703-a359-8efe0b6b0805.json b/labels/outdoor/a2/a29aa68e-80d6-5703-a359-8efe0b6b0805.json
index 3945ff39f0f45c3388973121964448033a9ab9a7..36dc1d8fc14e46ce5cb4dd384466669e2c81d60b 100644
--- a/labels/outdoor/a2/a29aa68e-80d6-5703-a359-8efe0b6b0805.json
+++ b/labels/outdoor/a2/a29aa68e-80d6-5703-a359-8efe0b6b0805.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the staircase.", "destination": "the staircase", "start_xy": [305, 558], "ang_err_namer_deg": 9.814607559540502, "ang_err_cycle_deg": 6.794180621878303, "confidence": "A", "arrival_ok": true, "duration_s": 6.422166870179191, "tier": "L", "id": "a29aa68e_seg0", "clip": "a29aa68e-80d6-5703-a359-8efe0b6b0805", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the end of the pathway.", "destination": "the end of the pathway", "start_xy": [485, 515], "ang_err_namer_deg": 0.9056579437377614, "ang_err_cycle_deg": 0.6151736484640643, "confidence": "B", "arrival_ok": false, "duration_s": 6.422166870179191, "tier": "L", "id": "a29aa68e_seg1", "clip": "a29aa68e-80d6-5703-a359-8efe0b6b0805", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the staircase.", "destination": "the staircase", "start_xy": [305, 558], "ang_err_namer_deg": 9.814607559540502, "ang_err_cycle_deg": 6.794180621878303, "confidence": "A", "arrival_ok": true, "duration_s": 6.422166870179191, "tier": "L", "id": "a29aa68e_seg0", "clip": "a29aa68e-80d6-5703-a359-8efe0b6b0805", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a2/a2a8dbbb-7ce6-58b8-a7fd-d212cf204257.json b/labels/outdoor/a2/a2a8dbbb-7ce6-58b8-a7fd-d212cf204257.json
index 8b6863b01354a519a546abf1fb4c049fe59da784..b4711ce85169c061e35053024e1b4b6017410afe 100644
--- a/labels/outdoor/a2/a2a8dbbb-7ce6-58b8-a7fd-d212cf204257.json
+++ b/labels/outdoor/a2/a2a8dbbb-7ce6-58b8-a7fd-d212cf204257.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the bridge section with the black and yellow striped barrier.", "destination": "the bridge section with the black and yellow striped barrier", "start_xy": [381, 706], "ang_err_namer_deg": 4.837948092742675, "ang_err_cycle_deg": 4.837948092742675, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a2a8dbbb_seg0", "clip": "a2a8dbbb-7ce6-58b8-a7fd-d212cf204257", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 30, "instruction": "Go to the area with the lone tree on the side of the road.", "destination": "the lone tree", "start_xy": [104, 596], "ang_err_namer_deg": 0.6580923252989337, "ang_err_cycle_deg": 25.42964236749543, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "a2a8dbbb_seg1", "clip": "a2a8dbbb-7ce6-58b8-a7fd-d212cf204257", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the bridge section with the black and yellow striped barrier.", "destination": "the bridge section with the black and yellow striped barrier", "start_xy": [381, 706], "ang_err_namer_deg": 4.837948092742675, "ang_err_cycle_deg": 4.837948092742675, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a2a8dbbb_seg0", "clip": "a2a8dbbb-7ce6-58b8-a7fd-d212cf204257", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a3/a3439bb3-f8cd-5826-9524-282033bfdf4e.json b/labels/outdoor/a3/a3439bb3-f8cd-5826-9524-282033bfdf4e.json
index 093d729bcecbc2de4df18a0eac42ac39625bae0b..fe52d14c1a17edeb4f31e02a4176dc7d9f950974 100644
--- a/labels/outdoor/a3/a3439bb3-f8cd-5826-9524-282033bfdf4e.json
+++ b/labels/outdoor/a3/a3439bb3-f8cd-5826-9524-282033bfdf4e.json
@@ -1 +1 @@
-[{"t0": 48, "t_end": 65, "instruction": "Go to the area with the yellow flowers along the stone wall.", "destination": "the area with the yellow flowers along the stone wall", "start_xy": [305, 609], "ang_err_namer_deg": 10.005847673262199, "ang_err_cycle_deg": 10.229544755940774, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "a3439bb3_seg0", "clip": "a3439bb3-f8cd-5826-9524-282033bfdf4e", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 46, "instruction": "Go to the building with the blue wall.", "destination": "the building with the blue wall", "start_xy": [268, 664], "ang_err_namer_deg": 11.099095835407338, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "a3439bb3_seg1", "clip": "a3439bb3-f8cd-5826-9524-282033bfdf4e", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the building with the yellow '邮政农资' sign.", "destination": "the building with the yellow '邮政农资' sign", "start_xy": [330, 600], "ang_err_namer_deg": 0.5609877561696177, "ang_err_cycle_deg": 0.12258499766901529, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "a3439bb3_seg2", "clip": "a3439bb3-f8cd-5826-9524-282033bfdf4e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 48, "t_end": 65, "instruction": "Go to the area with the yellow flowers along the stone wall.", "destination": "the area with the yellow flowers along the stone wall", "start_xy": [305, 609], "ang_err_namer_deg": 10.005847673262199, "ang_err_cycle_deg": 10.229544755940774, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "a3439bb3_seg0", "clip": "a3439bb3-f8cd-5826-9524-282033bfdf4e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a3/a371dd43-f8e3-5cab-8651-2bf6946778e8.json b/labels/outdoor/a3/a371dd43-f8e3-5cab-8651-2bf6946778e8.json
index 3cd476b6727a299acccad620a1905616b6496058..bdf410d9dcb427623ceff00d491e179a34de1693 100644
--- a/labels/outdoor/a3/a371dd43-f8e3-5cab-8651-2bf6946778e8.json
+++ b/labels/outdoor/a3/a371dd43-f8e3-5cab-8651-2bf6946778e8.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the Motels 168 hotel.", "destination": "the Motels 168 hotel", "start_xy": [860, 270], "ang_err_namer_deg": 5.794453733145823, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a371dd43_seg0", "clip": "a371dd43-f8e3-5cab-8651-2bf6946778e8", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area beneath the bridge.", "destination": "the area beneath the bridge", "start_xy": [450, 600], "ang_err_namer_deg": 4.559018021636553, "ang_err_cycle_deg": 2.190850421093636, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a371dd43_seg1", "clip": "a371dd43-f8e3-5cab-8651-2bf6946778e8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area beneath the bridge.", "destination": "the area beneath the bridge", "start_xy": [450, 600], "ang_err_namer_deg": 4.559018021636553, "ang_err_cycle_deg": 2.190850421093636, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a371dd43_seg1", "clip": "a371dd43-f8e3-5cab-8651-2bf6946778e8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a4/a4b9edb9-9f65-5a69-9283-df0d51235143.json b/labels/outdoor/a4/a4b9edb9-9f65-5a69-9283-df0d51235143.json
index 947ee45da4b1af26b09bae0a7d9840dae913faa0..0fcf4f126b934aa1f4efd1fed4c2f6e0354a4057 100644
--- a/labels/outdoor/a4/a4b9edb9-9f65-5a69-9283-df0d51235143.json
+++ b/labels/outdoor/a4/a4b9edb9-9f65-5a69-9283-df0d51235143.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the sharp curve in the mountain road.", "destination": "the sharp curve in the mountain road", "start_xy": [485, 593], "ang_err_namer_deg": 3.6115896270263868, "ang_err_cycle_deg": 3.461017159548982, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "a4b9edb9_seg0", "clip": "a4b9edb9-9f65-5a69-9283-df0d51235143", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the tractor with the yellow tank.", "destination": "the tractor with the yellow tank", "start_xy": [484, 558], "ang_err_namer_deg": 0.12771431182881052, "ang_err_cycle_deg": 0.12771431182881052, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a4b9edb9_seg1", "clip": "a4b9edb9-9f65-5a69-9283-df0d51235143", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the tractor with the yellow tank.", "destination": "the tractor with the yellow tank", "start_xy": [484, 558], "ang_err_namer_deg": 0.12771431182881052, "ang_err_cycle_deg": 0.12771431182881052, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a4b9edb9_seg1", "clip": "a4b9edb9-9f65-5a69-9283-df0d51235143", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a4/a4dba43f-db8f-5692-b1b2-56e43de13493.json b/labels/outdoor/a4/a4dba43f-db8f-5692-b1b2-56e43de13493.json
index d533585e666f68331fca2c5f945d94f1ff8b67d3..2493c5168e4f6bc5fd1d8b197c5287767dcc6696 100644
--- a/labels/outdoor/a4/a4dba43f-db8f-5692-b1b2-56e43de13493.json
+++ b/labels/outdoor/a4/a4dba43f-db8f-5692-b1b2-56e43de13493.json
@@ -1 +1 @@
-[{"t0": 39, "t_end": 71, "instruction": "Go to the entrance of the cinema.", "destination": "the entrance of the cinema", "start_xy": [765, 574], "ang_err_namer_deg": 3.7821252498064064, "ang_err_cycle_deg": 7.325909253669725, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a4dba43f_seg0", "clip": "a4dba43f-db8f-5692-b1b2-56e43de13493", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the building on the right.", "destination": "the building on the right", "start_xy": [846, 558], "ang_err_namer_deg": 11.01170970049677, "ang_err_cycle_deg": 16.167496935257553, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "a4dba43f_seg1", "clip": "a4dba43f-db8f-5692-b1b2-56e43de13493", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 39, "t_end": 71, "instruction": "Go to the entrance of the cinema.", "destination": "the entrance of the cinema", "start_xy": [765, 574], "ang_err_namer_deg": 3.7821252498064064, "ang_err_cycle_deg": 7.325909253669725, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a4dba43f_seg0", "clip": "a4dba43f-db8f-5692-b1b2-56e43de13493", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a5/a5195719-e331-5164-8df6-69ab3f9498b5.json b/labels/outdoor/a5/a5195719-e331-5164-8df6-69ab3f9498b5.json
index 926613db71ccc787a8527a2decfeba497f14fb5a..ed2af12d167bfa6304e88fb9e29d136ba5f847fc 100644
--- a/labels/outdoor/a5/a5195719-e331-5164-8df6-69ab3f9498b5.json
+++ b/labels/outdoor/a5/a5195719-e331-5164-8df6-69ab3f9498b5.json
@@ -1 +1 @@
-[{"t0": 25, "t_end": 57, "instruction": "Go to the area with the utility pole and safety netting.", "destination": "the utility pole and safety netting", "start_xy": [526, 558], "ang_err_namer_deg": 1.4239822035784584, "ang_err_cycle_deg": 1.7874827380276703, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a5195719_seg0", "clip": "a5195719-e331-5164-8df6-69ab3f9498b5", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 23, "instruction": "Go to the area with the parked cars.", "destination": "the area with the parked cars", "start_xy": [233, 662], "ang_err_namer_deg": 3.179401406834317, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "a5195719_seg1", "clip": "a5195719-e331-5164-8df6-69ab3f9498b5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 57, "instruction": "Go to the area with the utility pole and safety netting.", "destination": "the utility pole and safety netting", "start_xy": [526, 558], "ang_err_namer_deg": 1.4239822035784584, "ang_err_cycle_deg": 1.7874827380276703, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a5195719_seg0", "clip": "a5195719-e331-5164-8df6-69ab3f9498b5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a5/a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e.json b/labels/outdoor/a5/a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e.json
index bd4812c1c293a382a0b478e36db7bf0149e9d515..67e868ed61f03eab78c2d04117b15e40ba3239db 100644
--- a/labels/outdoor/a5/a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e.json
+++ b/labels/outdoor/a5/a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 67, "instruction": "Go to the metal guardrail on the left.", "destination": "the metal guardrail on the left", "start_xy": [588, 680], "ang_err_namer_deg": 6.631583441692889, "ang_err_cycle_deg": 6.778432997599819, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "a51ed9eb_seg0", "clip": "a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 48, "instruction": "Go to the area by the fence.", "destination": "the area by the fence", "start_xy": [757, 743], "ang_err_namer_deg": 6.832999841525113, "ang_err_cycle_deg": 8.489310980466009, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "a51ed9eb_seg1", "clip": "a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 29, "instruction": "Go to the area by the steep rocky cliff.", "destination": "the steep rocky cliff", "start_xy": [483, 559], "ang_err_namer_deg": 4.714379606448604, "ang_err_cycle_deg": 4.565738961558186, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "a51ed9eb_seg2", "clip": "a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 31, "t_end": 48, "instruction": "Go to the area by the fence.", "destination": "the area by the fence", "start_xy": [757, 743], "ang_err_namer_deg": 6.832999841525113, "ang_err_cycle_deg": 8.489310980466009, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "a51ed9eb_seg1", "clip": "a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 29, "instruction": "Go to the area by the steep rocky cliff.", "destination": "the steep rocky cliff", "start_xy": [483, 559], "ang_err_namer_deg": 4.714379606448604, "ang_err_cycle_deg": 4.565738961558186, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "a51ed9eb_seg2", "clip": "a51ed9eb-ff0f-5776-b4e8-1edd8f41d93e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a6/a653126a-1d2f-5e25-8bed-5550b90b1f13.json b/labels/outdoor/a6/a653126a-1d2f-5e25-8bed-5550b90b1f13.json
index 4b7c03c73e8427fc079b9f921b6bca05377b2b68..0397b8b65c6ba78f21bb9f97e2220e360a02720e 100644
--- a/labels/outdoor/a6/a653126a-1d2f-5e25-8bed-5550b90b1f13.json
+++ b/labels/outdoor/a6/a653126a-1d2f-5e25-8bed-5550b90b1f13.json
@@ -1 +1 @@
-[{"t0": 24, "t_end": 59, "instruction": "Go to the building with the circular sign near the stone wall.", "destination": "the building with the circular sign near the stone wall", "start_xy": [574, 622], "ang_err_namer_deg": 2.193898657588118, "ang_err_cycle_deg": 0.7867245492607394, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a653126a_seg0", "clip": "a653126a-1d2f-5e25-8bed-5550b90b1f13", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 22, "instruction": "Go to the building in the distance.", "destination": "the building in the distance", "start_xy": [510, 620], "ang_err_namer_deg": 1.2073225755665902, "ang_err_cycle_deg": 0.17089404042846137, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "a653126a_seg1", "clip": "a653126a-1d2f-5e25-8bed-5550b90b1f13", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 24, "t_end": 59, "instruction": "Go to the building with the circular sign near the stone wall.", "destination": "the building with the circular sign near the stone wall", "start_xy": [574, 622], "ang_err_namer_deg": 2.193898657588118, "ang_err_cycle_deg": 0.7867245492607394, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a653126a_seg0", "clip": "a653126a-1d2f-5e25-8bed-5550b90b1f13", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a7/a7a93265-c2d9-5a58-b29a-0f1d133cb9be.json b/labels/outdoor/a7/a7a93265-c2d9-5a58-b29a-0f1d133cb9be.json
index ed03b58d76142e1c29628b5b76ce97c172068617..be1935cd5bc50593de3fc727f0d9a4fd2b3657d6 100644
--- a/labels/outdoor/a7/a7a93265-c2d9-5a58-b29a-0f1d133cb9be.json
+++ b/labels/outdoor/a7/a7a93265-c2d9-5a58-b29a-0f1d133cb9be.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the green guardrail.", "destination": "the end of the green guardrail", "start_xy": [510, 707], "ang_err_namer_deg": 13.180457084338448, "ang_err_cycle_deg": 13.025300451636289, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "a7a93265_seg0", "clip": "a7a93265-c2d9-5a58-b29a-0f1d133cb9be", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the metal guardrail along the bend in the road.", "destination": "the metal guardrail", "start_xy": [331, 643], "ang_err_namer_deg": 11.929512477110825, "ang_err_cycle_deg": 0.5118954852328215, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a7a93265_seg1", "clip": "a7a93265-c2d9-5a58-b29a-0f1d133cb9be", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the white car parked on the road.", "destination": "the white car", "start_xy": [444, 647], "ang_err_namer_deg": 3.4254701573010804, "ang_err_cycle_deg": 3.4254701573010804, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "a7a93265_seg2", "clip": "a7a93265-c2d9-5a58-b29a-0f1d133cb9be", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 55, "instruction": "Go to the metal guardrail along the bend in the road.", "destination": "the metal guardrail", "start_xy": [331, 643], "ang_err_namer_deg": 11.929512477110825, "ang_err_cycle_deg": 0.5118954852328215, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "a7a93265_seg1", "clip": "a7a93265-c2d9-5a58-b29a-0f1d133cb9be", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a7/a7b59b37-38c7-5a77-ae2b-13c0e98b6160.json b/labels/outdoor/a7/a7b59b37-38c7-5a77-ae2b-13c0e98b6160.json
index accc84915334caa95df1b7373c2cc7c1f768b948..b87a78efb6732bd6dcb479ecf506bfc8c24734c1 100644
--- a/labels/outdoor/a7/a7b59b37-38c7-5a77-ae2b-13c0e98b6160.json
+++ b/labels/outdoor/a7/a7b59b37-38c7-5a77-ae2b-13c0e98b6160.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the end of the road.", "destination": "the end of the road", "start_xy": [482, 574], "ang_err_namer_deg": 9.932969641135887, "ang_err_cycle_deg": 6.0791452160460295, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "a7b59b37_seg0", "clip": "a7b59b37-38c7-5a77-ae2b-13c0e98b6160", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 56, "instruction": "Go to the recycling bins.", "destination": "recycling bins", "start_xy": [300, 510], "ang_err_namer_deg": 11.439931833450213, "ang_err_cycle_deg": 11.635731253446913, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a7b59b37_seg1", "clip": "a7b59b37-38c7-5a77-ae2b-13c0e98b6160", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 16, "instruction": "Go to the signpost by the road.", "destination": "signpost", "start_xy": [457, 508], "ang_err_namer_deg": 1.1119328309572323, "ang_err_cycle_deg": 0.7743789021213664, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "a7b59b37_seg2", "clip": "a7b59b37-38c7-5a77-ae2b-13c0e98b6160", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 18, "t_end": 56, "instruction": "Go to the recycling bins.", "destination": "recycling bins", "start_xy": [300, 510], "ang_err_namer_deg": 11.439931833450213, "ang_err_cycle_deg": 11.635731253446913, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a7b59b37_seg1", "clip": "a7b59b37-38c7-5a77-ae2b-13c0e98b6160", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a8/a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001.json b/labels/outdoor/a8/a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001.json
index f219e2a9fd94f1f16f6eb86489f35529009505dd..51850df25c57992b65b9f6a52135edfe2a9ad57c 100644
--- a/labels/outdoor/a8/a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001.json
+++ b/labels/outdoor/a8/a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the intersection of the two roads.", "destination": "the intersection of the two roads", "start_xy": [519, 501], "ang_err_namer_deg": 7.706106347258386, "ang_err_cycle_deg": 6.113640141224987, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "a85ddf4f_seg0", "clip": "a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the bend in the road where it turns right toward the mountain.", "destination": "the bend in the road", "start_xy": [650, 550], "ang_err_namer_deg": 6.708482498324367, "ang_err_cycle_deg": 9.10013740925164, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a85ddf4f_seg1", "clip": "a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the bend in the road where it turns right toward the mountain.", "destination": "the bend in the road", "start_xy": [650, 550], "ang_err_namer_deg": 6.708482498324367, "ang_err_cycle_deg": 9.10013740925164, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "a85ddf4f_seg1", "clip": "a85ddf4f-fb5d-5f9d-99e4-d8ec42ec4001", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a8/a887183a-7646-50d5-9bcf-dbfc1c435390.json b/labels/outdoor/a8/a887183a-7646-50d5-9bcf-dbfc1c435390.json
index 2b87d56693317e51212d09519e2831b995f88975..759f2fd698d06fb51ddeb7c3bf77012b56ad5c79 100644
--- a/labels/outdoor/a8/a887183a-7646-50d5-9bcf-dbfc1c435390.json
+++ b/labels/outdoor/a8/a887183a-7646-50d5-9bcf-dbfc1c435390.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 81, "instruction": "Go to the area by the street vendor cart.", "destination": "the street vendor cart", "start_xy": [108, 551], "ang_err_namer_deg": 0.5774102492894041, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "a887183a_seg0", "clip": "a887183a-7646-50d5-9bcf-dbfc1c435390", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 48, "instruction": "Go to the corner with the signpost.", "destination": "the corner with the signpost", "start_xy": [315, 505], "ang_err_namer_deg": 3.213342438126226, "ang_err_cycle_deg": 2.5575820533009916, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a887183a_seg1", "clip": "a887183a-7646-50d5-9bcf-dbfc1c435390", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area by the parked green rickshaw.", "destination": "the area by the parked green rickshaw", "start_xy": [560, 510], "ang_err_namer_deg": 6.563388683931614, "ang_err_cycle_deg": 7.08857054745497, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "a887183a_seg2", "clip": "a887183a-7646-50d5-9bcf-dbfc1c435390", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 48, "instruction": "Go to the corner with the signpost.", "destination": "the corner with the signpost", "start_xy": [315, 505], "ang_err_namer_deg": 3.213342438126226, "ang_err_cycle_deg": 2.5575820533009916, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "a887183a_seg1", "clip": "a887183a-7646-50d5-9bcf-dbfc1c435390", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/a9/a9b26c22-19f2-5f4f-98df-47728b5e3fb0.json b/labels/outdoor/a9/a9b26c22-19f2-5f4f-98df-47728b5e3fb0.json
index a82a1360110004fdc8af17ea8d95ae7900b1e4d8..f6a922f50c6f19184da0429515f5fb3285f3e4f9 100644
--- a/labels/outdoor/a9/a9b26c22-19f2-5f4f-98df-47728b5e3fb0.json
+++ b/labels/outdoor/a9/a9b26c22-19f2-5f4f-98df-47728b5e3fb0.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the end of the road near the rocky outlook.", "destination": "the end of the road", "start_xy": [485, 484], "ang_err_namer_deg": 4.736118009689605, "ang_err_cycle_deg": 0.24002432648460087, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "a9b26c22_seg0", "clip": "a9b26c22-19f2-5f4f-98df-47728b5e3fb0", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 30, "instruction": "Go to the area by the fence on the road.", "destination": "the fence on the road", "start_xy": [418, 551], "ang_err_namer_deg": 2.1524836900968127, "ang_err_cycle_deg": 0.38809409370114584, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "a9b26c22_seg1", "clip": "a9b26c22-19f2-5f4f-98df-47728b5e3fb0", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 15, "instruction": "Go to the building at the end of the road.", "destination": "the building at the end of the road", "start_xy": [0, 300], "ang_err_namer_deg": 3.70593802015339, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "a9b26c22_seg2", "clip": "a9b26c22-19f2-5f4f-98df-47728b5e3fb0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 17, "t_end": 30, "instruction": "Go to the area by the fence on the road.", "destination": "the fence on the road", "start_xy": [418, 551], "ang_err_namer_deg": 2.1524836900968127, "ang_err_cycle_deg": 0.38809409370114584, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "a9b26c22_seg1", "clip": "a9b26c22-19f2-5f4f-98df-47728b5e3fb0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/aa/aa757fb6-3cb1-5264-badf-c3d4e5aaea15.json b/labels/outdoor/aa/aa757fb6-3cb1-5264-badf-c3d4e5aaea15.json
index 14ee35d365b0bfd4edf91cd7cc1f258965746575..70d5a5434038e1e948a09fda248707d6ff1fc7c9 100644
--- a/labels/outdoor/aa/aa757fb6-3cb1-5264-badf-c3d4e5aaea15.json
+++ b/labels/outdoor/aa/aa757fb6-3cb1-5264-badf-c3d4e5aaea15.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the area along the train tracks in the forest.", "destination": "the snow-covered train tracks in the forest", "start_xy": [497, 743], "ang_err_namer_deg": 4.555879454036166, "ang_err_cycle_deg": 5.432499619355068, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "aa757fb6_seg0", "clip": "aa757fb6-3cb1-5264-badf-c3d4e5aaea15", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the end of the snowy tracks in the woods.", "destination": "the end of the snowy tracks", "start_xy": [487, 753], "ang_err_namer_deg": 11.317369412631889, "ang_err_cycle_deg": 10.35307368387846, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016666666666, "tier": "L", "id": "aa757fb6_seg1", "clip": "aa757fb6-3cb1-5264-badf-c3d4e5aaea15", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 36, "t_end": 71, "instruction": "Go to the area along the train tracks in the forest.", "destination": "the snow-covered train tracks in the forest", "start_xy": [497, 743], "ang_err_namer_deg": 4.555879454036166, "ang_err_cycle_deg": 5.432499619355068, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "aa757fb6_seg0", "clip": "aa757fb6-3cb1-5264-badf-c3d4e5aaea15", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ab/ab1ea638-1040-5f77-90e3-9929f26544ac.json b/labels/outdoor/ab/ab1ea638-1040-5f77-90e3-9929f26544ac.json
index fb78a887d99616aa65976437c5f0f763b3e0e522..d0d324b79a707759664402fab19ec2d3953aade3 100644
--- a/labels/outdoor/ab/ab1ea638-1040-5f77-90e3-9929f26544ac.json
+++ b/labels/outdoor/ab/ab1ea638-1040-5f77-90e3-9929f26544ac.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the area along the road bordered by the large snow bank on the right.", "destination": "the area along the road bordered by the large snow bank on the right", "start_xy": [750, 450], "ang_err_namer_deg": 13.046367656971773, "ang_err_cycle_deg": 8.288243672070273, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "ab1ea638_seg0", "clip": "ab1ea638-1040-5f77-90e3-9929f26544ac", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the area where the road curves alongside the snow-covered slope.", "destination": "the area where the road curves alongside the snow-covered slope", "start_xy": [450, 550], "ang_err_namer_deg": 1.8195543171488981, "ang_err_cycle_deg": 0.728687556352303, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "ab1ea638_seg1", "clip": "ab1ea638-1040-5f77-90e3-9929f26544ac", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the mountain road.", "destination": "the mountain road", "start_xy": [485, 700], "ang_err_namer_deg": 3.367421624133054, "ang_err_cycle_deg": 3.1057615617520646, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "ab1ea638_seg2", "clip": "ab1ea638-1040-5f77-90e3-9929f26544ac", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 69, "t_end": 89, "instruction": "Go to the area along the road bordered by the large snow bank on the right.", "destination": "the area along the road bordered by the large snow bank on the right", "start_xy": [750, 450], "ang_err_namer_deg": 13.046367656971773, "ang_err_cycle_deg": 8.288243672070273, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "ab1ea638_seg0", "clip": "ab1ea638-1040-5f77-90e3-9929f26544ac", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the area where the road curves alongside the snow-covered slope.", "destination": "the area where the road curves alongside the snow-covered slope", "start_xy": [450, 550], "ang_err_namer_deg": 1.8195543171488981, "ang_err_cycle_deg": 0.728687556352303, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "ab1ea638_seg1", "clip": "ab1ea638-1040-5f77-90e3-9929f26544ac", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ab/abad7f55-d6d2-573c-af1d-1ffccddbd205.json b/labels/outdoor/ab/abad7f55-d6d2-573c-af1d-1ffccddbd205.json
index 234dbe65ca3a8f303f36b71cf42e614c0c8f5628..82c96a8061269db685116734e09d1f3adadefcb8 100644
--- a/labels/outdoor/ab/abad7f55-d6d2-573c-af1d-1ffccddbd205.json
+++ b/labels/outdoor/ab/abad7f55-d6d2-573c-af1d-1ffccddbd205.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the yellow sign on the right side of the road.", "destination": "yellow sign", "start_xy": [443, 527], "ang_err_namer_deg": 2.126026617496554, "ang_err_cycle_deg": 2.0167473649499623, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "abad7f55_seg0", "clip": "abad7f55-d6d2-573c-af1d-1ffccddbd205", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [515, 501], "ang_err_namer_deg": 4.388082392107364, "ang_err_cycle_deg": 3.614424673063982, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "abad7f55_seg1", "clip": "abad7f55-d6d2-573c-af1d-1ffccddbd205", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [515, 501], "ang_err_namer_deg": 4.388082392107364, "ang_err_cycle_deg": 3.614424673063982, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "abad7f55_seg1", "clip": "abad7f55-d6d2-573c-af1d-1ffccddbd205", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ab/abc08506-db67-5ec1-8486-64fda12e3a6d.json b/labels/outdoor/ab/abc08506-db67-5ec1-8486-64fda12e3a6d.json
index b5e36c1047aff9e0b604b6b03e6a15a6bd47c6be..f3de0700d965b63262c72632a1b491ecb927c35d 100644
--- a/labels/outdoor/ab/abc08506-db67-5ec1-8486-64fda12e3a6d.json
+++ b/labels/outdoor/ab/abc08506-db67-5ec1-8486-64fda12e3a6d.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the white building with red shutters.", "destination": "the white building with red shutters", "start_xy": [444, 627], "ang_err_namer_deg": 6.246123403228203, "ang_err_cycle_deg": 5.13077980959794, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "abc08506_seg0", "clip": "abc08506-db67-5ec1-8486-64fda12e3a6d", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area by the black car parked along the road.", "destination": "the area by the black car", "start_xy": [585, 662], "ang_err_namer_deg": 7.45461220272695, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "abc08506_seg1", "clip": "abc08506-db67-5ec1-8486-64fda12e3a6d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the white building with red shutters.", "destination": "the white building with red shutters", "start_xy": [444, 627], "ang_err_namer_deg": 6.246123403228203, "ang_err_cycle_deg": 5.13077980959794, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "abc08506_seg0", "clip": "abc08506-db67-5ec1-8486-64fda12e3a6d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ab/abf433e9-c90a-532b-8600-4ff63362f72b.json b/labels/outdoor/ab/abf433e9-c90a-532b-8600-4ff63362f72b.json
index 34db59be6f55729a12536b53d1407316a1b98a6f..f9a05316b984c74135286434918ae228a0838336 100644
--- a/labels/outdoor/ab/abf433e9-c90a-532b-8600-4ff63362f72b.json
+++ b/labels/outdoor/ab/abf433e9-c90a-532b-8600-4ff63362f72b.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area of the creek and waterfall base.", "destination": "the area of the creek and waterfall base", "start_xy": [482, 516], "ang_err_namer_deg": 4.910988577838969, "ang_err_cycle_deg": 13.910490184540249, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "abf433e9_seg0", "clip": "abf433e9-c90a-532b-8600-4ff63362f72b", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the area overlooking the waterfall.", "destination": "the area overlooking the waterfall", "start_xy": [483, 574], "ang_err_namer_deg": 5.57473346724237, "ang_err_cycle_deg": 5.741125576223942, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "abf433e9_seg1", "clip": "abf433e9-c90a-532b-8600-4ff63362f72b", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the waterfall.", "destination": "waterfall", "start_xy": [512, 500], "ang_err_namer_deg": 4.314530500827212, "ang_err_cycle_deg": 1.986434707975099, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "abf433e9_seg2", "clip": "abf433e9-c90a-532b-8600-4ff63362f72b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 49, "instruction": "Go to the area overlooking the waterfall.", "destination": "the area overlooking the waterfall", "start_xy": [483, 574], "ang_err_namer_deg": 5.57473346724237, "ang_err_cycle_deg": 5.741125576223942, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "abf433e9_seg1", "clip": "abf433e9-c90a-532b-8600-4ff63362f72b", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the waterfall.", "destination": "waterfall", "start_xy": [512, 500], "ang_err_namer_deg": 4.314530500827212, "ang_err_cycle_deg": 1.986434707975099, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "abf433e9_seg2", "clip": "abf433e9-c90a-532b-8600-4ff63362f72b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ac/ac806e10-1f94-59a1-86d5-274aebd5aee6.json b/labels/outdoor/ac/ac806e10-1f94-59a1-86d5-274aebd5aee6.json
index 5825a7143f77fd386daaa1be44a061c87246f667..2a83412edb8feee3765b26568f24a05f1ca30542 100644
--- a/labels/outdoor/ac/ac806e10-1f94-59a1-86d5-274aebd5aee6.json
+++ b/labels/outdoor/ac/ac806e10-1f94-59a1-86d5-274aebd5aee6.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the white building on the left side of the road.", "destination": "the white building", "start_xy": [655, 662], "ang_err_namer_deg": 2.7421768272360953, "ang_err_cycle_deg": 2.2971688796016805, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "ac806e10_seg0", "clip": "ac806e10-1f94-59a1-86d5-274aebd5aee6", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the pink building on the left.", "destination": "pink building", "start_xy": [300, 500], "ang_err_namer_deg": 12.854627804445933, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "ac806e10_seg1", "clip": "ac806e10-1f94-59a1-86d5-274aebd5aee6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area with the white buildings by the coast.", "destination": "the white buildings by the coast", "start_xy": [686, 656], "ang_err_namer_deg": 5.938085090244578, "ang_err_cycle_deg": 6.1884423076258726, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "ac806e10_seg2", "clip": "ac806e10-1f94-59a1-86d5-274aebd5aee6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the white building on the left side of the road.", "destination": "the white building", "start_xy": [655, 662], "ang_err_namer_deg": 2.7421768272360953, "ang_err_cycle_deg": 2.2971688796016805, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "ac806e10_seg0", "clip": "ac806e10-1f94-59a1-86d5-274aebd5aee6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ac/acc3c6fd-06d9-5b76-9f18-34f9de10e79b.json b/labels/outdoor/ac/acc3c6fd-06d9-5b76-9f18-34f9de10e79b.json
index 772bcf3349a57c389ea7faf83012f92dac6ee51d..fa84ee38bed26cff2545ced8d3447c839bc8cfc4 100644
--- a/labels/outdoor/ac/acc3c6fd-06d9-5b76-9f18-34f9de10e79b.json
+++ b/labels/outdoor/ac/acc3c6fd-06d9-5b76-9f18-34f9de10e79b.json
@@ -1 +1 @@
-[{"t0": 37, "t_end": 54, "instruction": "Go to the white car parked by the wooden chalet with stacked firewood.", "destination": "the white car parked by the wooden chalet", "start_xy": [648, 586], "ang_err_namer_deg": 12.883437138328786, "ang_err_cycle_deg": 15.399896172829441, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "acc3c6fd_seg0", "clip": "acc3c6fd-06d9-5b76-9f18-34f9de10e79b", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 35, "instruction": "Go to the woodpile by the house.", "destination": "the woodpile by the house", "start_xy": [675, 625], "ang_err_namer_deg": 9.876925155263118, "ang_err_cycle_deg": 9.678613872844616, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "acc3c6fd_seg1", "clip": "acc3c6fd-06d9-5b76-9f18-34f9de10e79b", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the area by the wooden fence and trees at the end of the road.", "destination": "the area by the wooden fence and trees at the end of the road", "start_xy": [600, 600], "ang_err_namer_deg": 8.046342215867945, "ang_err_cycle_deg": 8.577065848229658, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "acc3c6fd_seg2", "clip": "acc3c6fd-06d9-5b76-9f18-34f9de10e79b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 37, "t_end": 54, "instruction": "Go to the white car parked by the wooden chalet with stacked firewood.", "destination": "the white car parked by the wooden chalet", "start_xy": [648, 586], "ang_err_namer_deg": 12.883437138328786, "ang_err_cycle_deg": 15.399896172829441, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "acc3c6fd_seg0", "clip": "acc3c6fd-06d9-5b76-9f18-34f9de10e79b", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 35, "instruction": "Go to the woodpile by the house.", "destination": "the woodpile by the house", "start_xy": [675, 625], "ang_err_namer_deg": 9.876925155263118, "ang_err_cycle_deg": 9.678613872844616, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "acc3c6fd_seg1", "clip": "acc3c6fd-06d9-5b76-9f18-34f9de10e79b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ad/add203d6-6471-57ce-97cd-77adfb030b71.json b/labels/outdoor/ad/add203d6-6471-57ce-97cd-77adfb030b71.json
index a89d9309b58cf44c3ee13c4c58473b6c1896aa9e..b45dadc1c2bfea2313cfa39b95766becae72f198 100644
--- a/labels/outdoor/ad/add203d6-6471-57ce-97cd-77adfb030b71.json
+++ b/labels/outdoor/ad/add203d6-6471-57ce-97cd-77adfb030b71.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow deer crossing sign.", "destination": "yellow deer crossing sign", "start_xy": [612, 699], "ang_err_namer_deg": 1.4519015179680048, "ang_err_cycle_deg": 1.385412729724802, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "add203d6_seg0", "clip": "add203d6-6471-57ce-97cd-77adfb030b71", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [332, 712], "ang_err_namer_deg": 0.39322528470035867, "ang_err_cycle_deg": 0.4582914170669334, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "add203d6_seg1", "clip": "add203d6-6471-57ce-97cd-77adfb030b71", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the brown car.", "destination": "the brown car", "start_xy": [254, 760], "ang_err_namer_deg": 10.055796968983094, "ang_err_cycle_deg": 9.93095895774155, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "add203d6_seg2", "clip": "add203d6-6471-57ce-97cd-77adfb030b71", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 21, "instruction": "Go to the brown car.", "destination": "the brown car", "start_xy": [254, 760], "ang_err_namer_deg": 10.055796968983094, "ang_err_cycle_deg": 9.93095895774155, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "add203d6_seg2", "clip": "add203d6-6471-57ce-97cd-77adfb030b71", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ae/ae37cdc9-1f9f-5585-9fa8-e978eaa4618b.json b/labels/outdoor/ae/ae37cdc9-1f9f-5585-9fa8-e978eaa4618b.json
index b7718a8330f947bbf93c91f8ef1d3a4297db961d..921a481c5d08a1c8b74279b42364e6062a926549 100644
--- a/labels/outdoor/ae/ae37cdc9-1f9f-5585-9fa8-e978eaa4618b.json
+++ b/labels/outdoor/ae/ae37cdc9-1f9f-5585-9fa8-e978eaa4618b.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the large dark wooden structure.", "destination": "the large dark wooden structure", "start_xy": [585, 558], "ang_err_namer_deg": 7.789984847858896, "ang_err_cycle_deg": 7.578205408304018, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "ae37cdc9_seg0", "clip": "ae37cdc9-1f9f-5585-9fa8-e978eaa4618b", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the small shed near the mountain path.", "destination": "the small shed", "start_xy": [605, 578], "ang_err_namer_deg": 4.449145117288719, "ang_err_cycle_deg": 4.449145117288719, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "ae37cdc9_seg1", "clip": "ae37cdc9-1f9f-5585-9fa8-e978eaa4618b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the large dark wooden structure.", "destination": "the large dark wooden structure", "start_xy": [585, 558], "ang_err_namer_deg": 7.789984847858896, "ang_err_cycle_deg": 7.578205408304018, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "ae37cdc9_seg0", "clip": "ae37cdc9-1f9f-5585-9fa8-e978eaa4618b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ae/aeca4dcd-a6d4-5258-9467-57143348400f.json b/labels/outdoor/ae/aeca4dcd-a6d4-5258-9467-57143348400f.json
index 0b3050d437abeab265e7e119f8cee8256ee68958..8cbde6f2107654ceb21ec7705084d842084e5be5 100644
--- a/labels/outdoor/ae/aeca4dcd-a6d4-5258-9467-57143348400f.json
+++ b/labels/outdoor/ae/aeca4dcd-a6d4-5258-9467-57143348400f.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area by the bend in the road.", "destination": "the bend in the road", "start_xy": [315, 551], "ang_err_namer_deg": 8.364845613368933, "ang_err_cycle_deg": 21.29540852003933, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "aeca4dcd_seg0", "clip": "aeca4dcd-a6d4-5258-9467-57143348400f", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 38, "instruction": "Go to the area of the mountain road where the ski lift is visible.", "destination": "the area near the ski lift", "start_xy": [585, 202], "ang_err_namer_deg": 12.749934046662245, "ang_err_cycle_deg": 12.534227779481828, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "aeca4dcd_seg1", "clip": "aeca4dcd-a6d4-5258-9467-57143348400f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 18, "t_end": 38, "instruction": "Go to the area of the mountain road where the ski lift is visible.", "destination": "the area near the ski lift", "start_xy": [585, 202], "ang_err_namer_deg": 12.749934046662245, "ang_err_cycle_deg": 12.534227779481828, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "aeca4dcd_seg1", "clip": "aeca4dcd-a6d4-5258-9467-57143348400f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ae/aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac.json b/labels/outdoor/ae/aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac.json
index 51b0d1261a01d82dc4a6147b099b8162e8c5a4b9..c3fa89dad6c0dcaa037b01ca8575c17ebacd597f 100644
--- a/labels/outdoor/ae/aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac.json
+++ b/labels/outdoor/ae/aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac.json
@@ -1 +1 @@
-[{"t0": 61, "t_end": 80, "instruction": "Go to the parking sign.", "destination": "parking sign", "start_xy": [378, 639], "ang_err_namer_deg": 0.30057723241379003, "ang_err_cycle_deg": 0.38677766038906786, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "aedd94e6_seg0", "clip": "aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac", "source": "spatialvid_v3"}, {"t0": 24, "t_end": 59, "instruction": "Go to the bench along the stone wall.", "destination": "the bench along the stone wall", "start_xy": [688, 622], "ang_err_namer_deg": 13.08750226064948, "ang_err_cycle_deg": 12.677210820569499, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "aedd94e6_seg1", "clip": "aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 24, "t_end": 59, "instruction": "Go to the bench along the stone wall.", "destination": "the bench along the stone wall", "start_xy": [688, 622], "ang_err_namer_deg": 13.08750226064948, "ang_err_cycle_deg": 12.677210820569499, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "aedd94e6_seg1", "clip": "aedd94e6-8aa0-52f5-84ce-9ba0fed3d2ac", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/af/af263dca-635e-5e03-a72b-7a311cfffd1a.json b/labels/outdoor/af/af263dca-635e-5e03-a72b-7a311cfffd1a.json
index dfdd8a3241152ba68144956c5c0c5e4893e7c292..09706ac2fb1a45a5cc022ab26800e57355467a16 100644
--- a/labels/outdoor/af/af263dca-635e-5e03-a72b-7a311cfffd1a.json
+++ b/labels/outdoor/af/af263dca-635e-5e03-a72b-7a311cfffd1a.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [331, 551], "ang_err_namer_deg": 6.119685609739428, "ang_err_cycle_deg": 0.3932065899598745, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "af263dca_seg0", "clip": "af263dca-635e-5e03-a72b-7a311cfffd1a", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the railway signal.", "destination": "the railway signal", "start_xy": [637, 505], "ang_err_namer_deg": 0.7080451656291255, "ang_err_cycle_deg": 1.2436014432803097, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "af263dca_seg1", "clip": "af263dca-635e-5e03-a72b-7a311cfffd1a", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the tunnel exit.", "destination": "the tunnel exit", "start_xy": [665, 381], "ang_err_namer_deg": 0.8544185525857497, "ang_err_cycle_deg": 1.3247761417011412, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "af263dca_seg2", "clip": "af263dca-635e-5e03-a72b-7a311cfffd1a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the tunnel exit.", "destination": "the tunnel exit", "start_xy": [665, 381], "ang_err_namer_deg": 0.8544185525857497, "ang_err_cycle_deg": 1.3247761417011412, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "af263dca_seg2", "clip": "af263dca-635e-5e03-a72b-7a311cfffd1a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/af/af58deb4-a9f6-5078-a0b4-648ab513e6cf.json b/labels/outdoor/af/af58deb4-a9f6-5078-a0b4-648ab513e6cf.json
index fc852c855b6ea39d75f761efa06b6a08a01eaa65..37a6e66fed697d884066e254c3707ae360031dc5 100644
--- a/labels/outdoor/af/af58deb4-a9f6-5078-a0b4-648ab513e6cf.json
+++ b/labels/outdoor/af/af58deb4-a9f6-5078-a0b4-648ab513e6cf.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the orange building.", "destination": "the orange building", "start_xy": [796, 628], "ang_err_namer_deg": 2.6685687674516827, "ang_err_cycle_deg": 3.7801444664797264, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "af58deb4_seg0", "clip": "af58deb4-a9f6-5078-a0b4-648ab513e6cf", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the area adjacent to the Colosseum.", "destination": "the area adjacent to the Colosseum", "start_xy": [487, 485], "ang_err_namer_deg": 13.867752186047438, "ang_err_cycle_deg": 8.925397081992095, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "af58deb4_seg1", "clip": "af58deb4-a9f6-5078-a0b4-648ab513e6cf", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the area adjacent to the Colosseum.", "destination": "the area adjacent to the Colosseum", "start_xy": [487, 485], "ang_err_namer_deg": 13.867752186047438, "ang_err_cycle_deg": 8.925397081992095, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "af58deb4_seg1", "clip": "af58deb4-a9f6-5078-a0b4-648ab513e6cf", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/af/af94df99-13a5-5dea-a4a4-9f6ce5aa2c65.json b/labels/outdoor/af/af94df99-13a5-5dea-a4a4-9f6ce5aa2c65.json
index 65a366625745762926bdcd3529f77c92b609e5ff..2bacc50da3be18854ee11e7e991805e14b450498 100644
--- a/labels/outdoor/af/af94df99-13a5-5dea-a4a4-9f6ce5aa2c65.json
+++ b/labels/outdoor/af/af94df99-13a5-5dea-a4a4-9f6ce5aa2c65.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the furniture store on the right.", "destination": "the furniture store", "start_xy": [482, 596], "ang_err_namer_deg": 6.044730344903269, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.421799431447593, "tier": "L", "id": "af94df99_seg0", "clip": "af94df99-13a5-5dea-a4a4-9f6ce5aa2c65", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the intersection with the large prominent advertisement for the building 'Park Landmark' at the end of the road.", "destination": "the intersection with the advertisement for 'Park Landmark'", "start_xy": [412, 485], "ang_err_namer_deg": 0.767678580347506, "ang_err_cycle_deg": 0.3988588513272907, "confidence": "A", "arrival_ok": true, "duration_s": 3.486119691357265, "tier": "M", "id": "af94df99_seg1", "clip": "af94df99-13a5-5dea-a4a4-9f6ce5aa2c65", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the intersection with the yellow crosswalk.", "destination": "the intersection with the yellow crosswalk", "start_xy": [450, 750], "ang_err_namer_deg": 6.50844568193398, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.220039626379847, "tier": "M", "id": "af94df99_seg2", "clip": "af94df99-13a5-5dea-a4a4-9f6ce5aa2c65", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the intersection with the large prominent advertisement for the building 'Park Landmark' at the end of the road.", "destination": "the intersection with the advertisement for 'Park Landmark'", "start_xy": [412, 485], "ang_err_namer_deg": 0.767678580347506, "ang_err_cycle_deg": 0.3988588513272907, "confidence": "A", "arrival_ok": true, "duration_s": 3.486119691357265, "tier": "M", "id": "af94df99_seg1", "clip": "af94df99-13a5-5dea-a4a4-9f6ce5aa2c65", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b0/b077f9df-60b3-5aa8-9fe1-c0b3be5ea987.json b/labels/outdoor/b0/b077f9df-60b3-5aa8-9fe1-c0b3be5ea987.json
index 3026eadf6e3b43889b81d90e2bca147cc9dd135e..8f3122aca77f7fdd79f407a9c88f6f391c560722 100644
--- a/labels/outdoor/b0/b077f9df-60b3-5aa8-9fe1-c0b3be5ea987.json
+++ b/labels/outdoor/b0/b077f9df-60b3-5aa8-9fe1-c0b3be5ea987.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the stone retaining wall with the painted panels.", "destination": "the stone retaining wall with the painted panels", "start_xy": [585, 725], "ang_err_namer_deg": 9.024079408974902, "ang_err_cycle_deg": 6.151145763281992, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b077f9df_seg0", "clip": "b077f9df-60b3-5aa8-9fe1-c0b3be5ea987", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the stone monument near the gas station.", "destination": "stone monument", "start_xy": [487, 662], "ang_err_namer_deg": 1.9256996290823243, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "b077f9df_seg1", "clip": "b077f9df-60b3-5aa8-9fe1-c0b3be5ea987", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the stone retaining wall with the painted panels.", "destination": "the stone retaining wall with the painted panels", "start_xy": [585, 725], "ang_err_namer_deg": 9.024079408974902, "ang_err_cycle_deg": 6.151145763281992, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b077f9df_seg0", "clip": "b077f9df-60b3-5aa8-9fe1-c0b3be5ea987", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b0/b09c9834-1884-5a4f-be14-329945913e5b.json b/labels/outdoor/b0/b09c9834-1884-5a4f-be14-329945913e5b.json
index 3591d60f8b8a0689182661a932a7cfd5674cac9d..037fe5b57286a7b2c3548e27bae992facf09f3b2 100644
--- a/labels/outdoor/b0/b09c9834-1884-5a4f-be14-329945913e5b.json
+++ b/labels/outdoor/b0/b09c9834-1884-5a4f-be14-329945913e5b.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the intersection of the two main streets.", "destination": "the intersection", "start_xy": [483, 744], "ang_err_namer_deg": 0.05013767078960366, "ang_err_cycle_deg": 0.026113493576641354, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b09c9834_seg0", "clip": "b09c9834-1884-5a4f-be14-329945913e5b", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the street sign.", "destination": "the street sign", "start_xy": [535, 578], "ang_err_namer_deg": 1.4798384550132637, "ang_err_cycle_deg": 1.7081765271647336, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "b09c9834_seg1", "clip": "b09c9834-1884-5a4f-be14-329945913e5b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the intersection of the two main streets.", "destination": "the intersection", "start_xy": [483, 744], "ang_err_namer_deg": 0.05013767078960366, "ang_err_cycle_deg": 0.026113493576641354, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b09c9834_seg0", "clip": "b09c9834-1884-5a4f-be14-329945913e5b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b0/b0c7e6e2-763e-59da-aaeb-0178aec7b42c.json b/labels/outdoor/b0/b0c7e6e2-763e-59da-aaeb-0178aec7b42c.json
index b5dcfbc801d7a4243c0f7880ca77b7a6e79a3b26..e2b4fe25e288bbab739244434e256cfc36ec29c2 100644
--- a/labels/outdoor/b0/b0c7e6e2-763e-59da-aaeb-0178aec7b42c.json
+++ b/labels/outdoor/b0/b0c7e6e2-763e-59da-aaeb-0178aec7b42c.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the red bus stop.", "destination": "the red bus stop", "start_xy": [593, 625], "ang_err_namer_deg": 8.96401054559682, "ang_err_cycle_deg": 9.113477635650854, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b0c7e6e2_seg0", "clip": "b0c7e6e2-763e-59da-aaeb-0178aec7b42c", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the building with the brown facade at the base of the rock cliff.", "destination": "the building with the brown facade at the base of the rock cliff", "start_xy": [420, 625], "ang_err_namer_deg": 5.844628404846944, "ang_err_cycle_deg": 5.319127205709406, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b0c7e6e2_seg1", "clip": "b0c7e6e2-763e-59da-aaeb-0178aec7b42c", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the building at the end of the road.", "destination": "the building at the end of the road", "start_xy": [403, 574], "ang_err_namer_deg": 2.668723331779788, "ang_err_cycle_deg": 1.033722509440941, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "b0c7e6e2_seg2", "clip": "b0c7e6e2-763e-59da-aaeb-0178aec7b42c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the red bus stop.", "destination": "the red bus stop", "start_xy": [593, 625], "ang_err_namer_deg": 8.96401054559682, "ang_err_cycle_deg": 9.113477635650854, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b0c7e6e2_seg0", "clip": "b0c7e6e2-763e-59da-aaeb-0178aec7b42c", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the building with the brown facade at the base of the rock cliff.", "destination": "the building with the brown facade at the base of the rock cliff", "start_xy": [420, 625], "ang_err_namer_deg": 5.844628404846944, "ang_err_cycle_deg": 5.319127205709406, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b0c7e6e2_seg1", "clip": "b0c7e6e2-763e-59da-aaeb-0178aec7b42c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b1/b148bf73-f4ac-520a-a92d-8d7b5787c1fd.json b/labels/outdoor/b1/b148bf73-f4ac-520a-a92d-8d7b5787c1fd.json
index c56fc88c1f709577619bf78e892f78f72b8f62d3..d4355745ba30cac8db1320cd4155d4bf1618b49e 100644
--- a/labels/outdoor/b1/b148bf73-f4ac-520a-a92d-8d7b5787c1fd.json
+++ b/labels/outdoor/b1/b148bf73-f4ac-520a-a92d-8d7b5787c1fd.json
@@ -1 +1 @@
-[{"t0": 61, "t_end": 74, "instruction": "Go to the area by the utility pole on the curve.", "destination": "the utility pole on the curve", "start_xy": [387, 558], "ang_err_namer_deg": 13.338052924197358, "ang_err_cycle_deg": 12.708205387048388, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "b148bf73_seg0", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}, {"t0": 49, "t_end": 59, "instruction": "Go to the area by the trees.", "destination": "the area by the trees", "start_xy": [583, 427], "ang_err_namer_deg": 5.307942755644424, "ang_err_cycle_deg": 2.8897750159049833, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "b148bf73_seg1", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}, {"t0": 26, "t_end": 47, "instruction": "Go to the area with the pine trees on the roadside.", "destination": "the area with the pine trees", "start_xy": [863, 605], "ang_err_namer_deg": 3.9010796618912056, "ang_err_cycle_deg": 22.871849776036882, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "b148bf73_seg2", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 24, "instruction": "Go to the area where the road curves to the right along the mountainside.", "destination": "the curve in the road", "start_xy": [560, 777], "ang_err_namer_deg": 8.261614163237487, "ang_err_cycle_deg": 3.4510122155079226, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "b148bf73_seg3", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 61, "t_end": 74, "instruction": "Go to the area by the utility pole on the curve.", "destination": "the utility pole on the curve", "start_xy": [387, 558], "ang_err_namer_deg": 13.338052924197358, "ang_err_cycle_deg": 12.708205387048388, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "b148bf73_seg0", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 24, "instruction": "Go to the area where the road curves to the right along the mountainside.", "destination": "the curve in the road", "start_xy": [560, 777], "ang_err_namer_deg": 8.261614163237487, "ang_err_cycle_deg": 3.4510122155079226, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "b148bf73_seg3", "clip": "b148bf73-f4ac-520a-a92d-8d7b5787c1fd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b1/b14f9cd3-11ab-5198-8fbe-51bc10e6a315.json b/labels/outdoor/b1/b14f9cd3-11ab-5198-8fbe-51bc10e6a315.json
index ea902ad2e1da25d650baa073d0301a79d6ea10da..290abb8a622e9d25fe09bb9144bc049854fecd69 100644
--- a/labels/outdoor/b1/b14f9cd3-11ab-5198-8fbe-51bc10e6a315.json
+++ b/labels/outdoor/b1/b14f9cd3-11ab-5198-8fbe-51bc10e6a315.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the parked black SUV and the unfinished building.", "destination": "the area by the parked black SUV and the unfinished building", "start_xy": [420, 660], "ang_err_namer_deg": 12.489415377556638, "ang_err_cycle_deg": 12.99428630575888, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b14f9cd3_seg0", "clip": "b14f9cd3-11ab-5198-8fbe-51bc10e6a315", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the white residential building on the right.", "destination": "the white residential building on the right", "start_xy": [673, 505], "ang_err_namer_deg": 6.144148791846116, "ang_err_cycle_deg": 6.144148791846116, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b14f9cd3_seg1", "clip": "b14f9cd3-11ab-5198-8fbe-51bc10e6a315", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 36, "instruction": "Go to the yellow road sign.", "destination": "the yellow road sign", "start_xy": [884, 792], "ang_err_namer_deg": 12.228915421498275, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b14f9cd3_seg2", "clip": "b14f9cd3-11ab-5198-8fbe-51bc10e6a315", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the parked black SUV and the unfinished building.", "destination": "the area by the parked black SUV and the unfinished building", "start_xy": [420, 660], "ang_err_namer_deg": 12.489415377556638, "ang_err_cycle_deg": 12.99428630575888, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b14f9cd3_seg0", "clip": "b14f9cd3-11ab-5198-8fbe-51bc10e6a315", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the white residential building on the right.", "destination": "the white residential building on the right", "start_xy": [673, 505], "ang_err_namer_deg": 6.144148791846116, "ang_err_cycle_deg": 6.144148791846116, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b14f9cd3_seg1", "clip": "b14f9cd3-11ab-5198-8fbe-51bc10e6a315", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b1/b17da37a-5d9f-54a3-9b86-43691af1bfc0.json b/labels/outdoor/b1/b17da37a-5d9f-54a3-9b86-43691af1bfc0.json
index 932219e09f957c7dd6c0cdda42ed19ede5b6a016..66aa6d7e51ded42b750e080c1479c5ea5871c77a 100644
--- a/labels/outdoor/b1/b17da37a-5d9f-54a3-9b86-43691af1bfc0.json
+++ b/labels/outdoor/b1/b17da37a-5d9f-54a3-9b86-43691af1bfc0.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area with the small buildings on the left side of the road.", "destination": "the area with the small buildings on the left side of the road", "start_xy": [121, 476], "ang_err_namer_deg": 9.836833778349236, "ang_err_cycle_deg": 0.8371003925385162, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "b17da37a_seg0", "clip": "b17da37a-5d9f-54a3-9b86-43691af1bfc0", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the white building on the right side of the road.", "destination": "the white building", "start_xy": [480, 506], "ang_err_namer_deg": 12.528905533948908, "ang_err_cycle_deg": 12.74465547778529, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "b17da37a_seg1", "clip": "b17da37a-5d9f-54a3-9b86-43691af1bfc0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 51, "t_end": 89, "instruction": "Go to the area with the small buildings on the left side of the road.", "destination": "the area with the small buildings on the left side of the road", "start_xy": [121, 476], "ang_err_namer_deg": 9.836833778349236, "ang_err_cycle_deg": 0.8371003925385162, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "b17da37a_seg0", "clip": "b17da37a-5d9f-54a3-9b86-43691af1bfc0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b1/b1a67613-712e-58ad-9345-6b4595c6b4f8.json b/labels/outdoor/b1/b1a67613-712e-58ad-9345-6b4595c6b4f8.json
index de95edeb92a71217447ddc159d31c4727de5a027..8f07720e8a390ee65b04134497489463b188e222 100644
--- a/labels/outdoor/b1/b1a67613-712e-58ad-9345-6b4595c6b4f8.json
+++ b/labels/outdoor/b1/b1a67613-712e-58ad-9345-6b4595c6b4f8.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the metal archway.", "destination": "the metal archway", "start_xy": [194, 361], "ang_err_namer_deg": 2.9344843276027146, "ang_err_cycle_deg": 2.9344843276027146, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "b1a67613_seg0", "clip": "b1a67613-712e-58ad-9345-6b4595c6b4f8", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the corner of the house with the low concrete wall.", "destination": "the corner of the house with the low concrete wall", "start_xy": [483, 792], "ang_err_namer_deg": 11.964307696698745, "ang_err_cycle_deg": 3.3922786227816375, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b1a67613_seg1", "clip": "b1a67613-712e-58ad-9345-6b4595c6b4f8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the corner of the house with the low concrete wall.", "destination": "the corner of the house with the low concrete wall", "start_xy": [483, 792], "ang_err_namer_deg": 11.964307696698745, "ang_err_cycle_deg": 3.3922786227816375, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b1a67613_seg1", "clip": "b1a67613-712e-58ad-9345-6b4595c6b4f8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b1/b1fa0298-5153-5d14-ad77-9874cb26eecd.json b/labels/outdoor/b1/b1fa0298-5153-5d14-ad77-9874cb26eecd.json
index da49e1b1f0480ff3c19d9cf835914e9f0b454572..973ac3d23edd9143f4a67b0065c5abd45321da88 100644
--- a/labels/outdoor/b1/b1fa0298-5153-5d14-ad77-9874cb26eecd.json
+++ b/labels/outdoor/b1/b1fa0298-5153-5d14-ad77-9874cb26eecd.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [535, 662], "ang_err_namer_deg": 2.667273024736236, "ang_err_cycle_deg": 2.2840075438092726, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b1fa0298_seg0", "clip": "b1fa0298-5153-5d14-ad77-9874cb26eecd", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the red car.", "destination": "the red car", "start_xy": [446, 665], "ang_err_namer_deg": 1.8104465088850454, "ang_err_cycle_deg": 1.7340405885686812, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "b1fa0298_seg1", "clip": "b1fa0298-5153-5d14-ad77-9874cb26eecd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [535, 662], "ang_err_namer_deg": 2.667273024736236, "ang_err_cycle_deg": 2.2840075438092726, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b1fa0298_seg0", "clip": "b1fa0298-5153-5d14-ad77-9874cb26eecd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b3/b384da83-5d18-59c2-bf86-9851c13757b2.json b/labels/outdoor/b3/b384da83-5d18-59c2-bf86-9851c13757b2.json
index 2b31b5c7d4412e4102691fb3fab6148e041698db..90b72056293c738428e15b5a967fa2de23517688 100644
--- a/labels/outdoor/b3/b384da83-5d18-59c2-bf86-9851c13757b2.json
+++ b/labels/outdoor/b3/b384da83-5d18-59c2-bf86-9851c13757b2.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 74, "instruction": "Go to the area with the yellow warning sign on the utility pole.", "destination": "the utility pole with the yellow warning sign", "start_xy": [757, 707], "ang_err_namer_deg": 1.3757146220323182, "ang_err_cycle_deg": 4.893296107142213, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "b384da83_seg0", "clip": "b384da83-5d18-59c2-bf86-9851c13757b2", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 44, "instruction": "Go to the area by the pine trees along the road.", "destination": "the area by the pine trees along the road", "start_xy": [800, 600], "ang_err_namer_deg": 7.843448436177564, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "b384da83_seg1", "clip": "b384da83-5d18-59c2-bf86-9851c13757b2", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 29, "instruction": "Go to the animal statues by the road.", "destination": "the animal statues", "start_xy": [191, 643], "ang_err_namer_deg": 7.361708316352222, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "b384da83_seg2", "clip": "b384da83-5d18-59c2-bf86-9851c13757b2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 74, "instruction": "Go to the area with the yellow warning sign on the utility pole.", "destination": "the utility pole with the yellow warning sign", "start_xy": [757, 707], "ang_err_namer_deg": 1.3757146220323182, "ang_err_cycle_deg": 4.893296107142213, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "b384da83_seg0", "clip": "b384da83-5d18-59c2-bf86-9851c13757b2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b3/b3eb6a2a-a562-5e1a-a869-a808d3b46a72.json b/labels/outdoor/b3/b3eb6a2a-a562-5e1a-a869-a808d3b46a72.json
index 918fe034e1c81e85db95d2c33d103626e613196f..7141fe3e7caefeebe17d8b46e8b708ac4b822e49 100644
--- a/labels/outdoor/b3/b3eb6a2a-a562-5e1a-a869-a808d3b46a72.json
+++ b/labels/outdoor/b3/b3eb6a2a-a562-5e1a-a869-a808d3b46a72.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the house with the parked cars.", "destination": "the area in front of the house with the parked cars", "start_xy": [490, 472], "ang_err_namer_deg": 7.495146530979183, "ang_err_cycle_deg": 0.08540665022445867, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "b3eb6a2a_seg0", "clip": "b3eb6a2a-a562-5e1a-a869-a808d3b46a72", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the brown chalet on the right.", "destination": "brown chalet on the right", "start_xy": [863, 444], "ang_err_namer_deg": 13.464181017290622, "ang_err_cycle_deg": 0.7980574641559888, "confidence": "B", "arrival_ok": false, "duration_s": 5.689016666666666, "tier": "L", "id": "b3eb6a2a_seg1", "clip": "b3eb6a2a-a562-5e1a-a869-a808d3b46a72", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area in front of the house with the parked cars.", "destination": "the area in front of the house with the parked cars", "start_xy": [490, 472], "ang_err_namer_deg": 7.495146530979183, "ang_err_cycle_deg": 0.08540665022445867, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "b3eb6a2a_seg0", "clip": "b3eb6a2a-a562-5e1a-a869-a808d3b46a72", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b4/b45ca7ed-3008-552b-b71b-0a027e1dc560.json b/labels/outdoor/b4/b45ca7ed-3008-552b-b71b-0a027e1dc560.json
index f1fdd297fa087f6374c184dfbfff6c207f9aa52a..12c2764814fd3a75a957afc7ae8643f8b1e41bbc 100644
--- a/labels/outdoor/b4/b45ca7ed-3008-552b-b71b-0a027e1dc560.json
+++ b/labels/outdoor/b4/b45ca7ed-3008-552b-b71b-0a027e1dc560.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the bus stop on the right.", "destination": "bus stop", "start_xy": [625, 687], "ang_err_namer_deg": 12.896051069640718, "ang_err_cycle_deg": 12.660337882740937, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b45ca7ed_seg0", "clip": "b45ca7ed-3008-552b-b71b-0a027e1dc560", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area by the noise barrier wall.", "destination": "the noise barrier wall", "start_xy": [388, 308], "ang_err_namer_deg": 10.54005938678363, "ang_err_cycle_deg": 11.877611055947485, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "b45ca7ed_seg1", "clip": "b45ca7ed-3008-552b-b71b-0a027e1dc560", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area beneath the elevated highway.", "destination": "the area beneath the elevated highway", "start_xy": [450, 500], "ang_err_namer_deg": 13.0332949678873, "ang_err_cycle_deg": 19.244365027660013, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "b45ca7ed_seg2", "clip": "b45ca7ed-3008-552b-b71b-0a027e1dc560", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the bus stop on the right.", "destination": "bus stop", "start_xy": [625, 687], "ang_err_namer_deg": 12.896051069640718, "ang_err_cycle_deg": 12.660337882740937, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b45ca7ed_seg0", "clip": "b45ca7ed-3008-552b-b71b-0a027e1dc560", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b4/b4d27b6f-0508-5973-86d2-c3a54b3e72ae.json b/labels/outdoor/b4/b4d27b6f-0508-5973-86d2-c3a54b3e72ae.json
index edab3b760dcc37a8f5921392539d761907360520..b254dde13a7df4519ad1b545017897e351fc25ff 100644
--- a/labels/outdoor/b4/b4d27b6f-0508-5973-86d2-c3a54b3e72ae.json
+++ b/labels/outdoor/b4/b4d27b6f-0508-5973-86d2-c3a54b3e72ae.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area of the bridge where the road branches.", "destination": "the area of the bridge where the road branches", "start_xy": [648, 745], "ang_err_namer_deg": 0.29726093163236, "ang_err_cycle_deg": 1.5835234091816146, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b4d27b6f_seg0", "clip": "b4d27b6f-0508-5973-86d2-c3a54b3e72ae", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the illuminated building.", "destination": "the illuminated building", "start_xy": [863, 510], "ang_err_namer_deg": 10.052987299519062, "ang_err_cycle_deg": 10.805563611537837, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "b4d27b6f_seg1", "clip": "b4d27b6f-0508-5973-86d2-c3a54b3e72ae", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 36, "instruction": "Go to the end of the road near the bridge structure.", "destination": "the end of the road near the bridge structure", "start_xy": [487, 703], "ang_err_namer_deg": 11.228976500819503, "ang_err_cycle_deg": 5.479120097219943, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b4d27b6f_seg2", "clip": "b4d27b6f-0508-5973-86d2-c3a54b3e72ae", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the area of the bridge where the road branches.", "destination": "the area of the bridge where the road branches", "start_xy": [648, 745], "ang_err_namer_deg": 0.29726093163236, "ang_err_cycle_deg": 1.5835234091816146, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b4d27b6f_seg0", "clip": "b4d27b6f-0508-5973-86d2-c3a54b3e72ae", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 36, "instruction": "Go to the end of the road near the bridge structure.", "destination": "the end of the road near the bridge structure", "start_xy": [487, 703], "ang_err_namer_deg": 11.228976500819503, "ang_err_cycle_deg": 5.479120097219943, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "b4d27b6f_seg2", "clip": "b4d27b6f-0508-5973-86d2-c3a54b3e72ae", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b5/b568ed09-6417-5f94-b370-953037dd3860.json b/labels/outdoor/b5/b568ed09-6417-5f94-b370-953037dd3860.json
index 663844da6258b3144874d5244db9d0e6ad6a4500..eba7a5e4b3bc55b0ace4da19ee79c67a4f1e2928 100644
--- a/labels/outdoor/b5/b568ed09-6417-5f94-b370-953037dd3860.json
+++ b/labels/outdoor/b5/b568ed09-6417-5f94-b370-953037dd3860.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 61, "instruction": "Go to the tree work ahead sign.", "destination": "the tree work ahead sign", "start_xy": [482, 703], "ang_err_namer_deg": 4.449244528979326, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b568ed09_seg0", "clip": "b568ed09-6417-5f94-b370-953037dd3860", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the speed limit sign.", "destination": "the speed limit sign", "start_xy": [569, 724], "ang_err_namer_deg": 1.2961060846369392, "ang_err_cycle_deg": 1.1099010588679343, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "b568ed09_seg1", "clip": "b568ed09-6417-5f94-b370-953037dd3860", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 14, "instruction": "Go to the speed limit sign.", "destination": "the speed limit sign", "start_xy": [569, 724], "ang_err_namer_deg": 1.2961060846369392, "ang_err_cycle_deg": 1.1099010588679343, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "b568ed09_seg1", "clip": "b568ed09-6417-5f94-b370-953037dd3860", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b6/b621b797-4ffe-5d5f-afbd-8a2e76773ab6.json b/labels/outdoor/b6/b621b797-4ffe-5d5f-afbd-8a2e76773ab6.json
index 9db86e7bcf01ce00292ee2870d440e317b7e0e90..043dca2c42c21b33e4d44a025de244c12e160410 100644
--- a/labels/outdoor/b6/b621b797-4ffe-5d5f-afbd-8a2e76773ab6.json
+++ b/labels/outdoor/b6/b621b797-4ffe-5d5f-afbd-8a2e76773ab6.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the end of the guardrail by the rocky embankment.", "destination": "the end of the guardrail", "start_xy": [485, 710], "ang_err_namer_deg": 6.457098141488811, "ang_err_cycle_deg": 16.9419098882755, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b621b797_seg0", "clip": "b621b797-4ffe-5d5f-afbd-8a2e76773ab6", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the orange delineator post on the right.", "destination": "the orange delineator post", "start_xy": [484, 703], "ang_err_namer_deg": 11.678519148020763, "ang_err_cycle_deg": 11.585095086801388, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "b621b797_seg1", "clip": "b621b797-4ffe-5d5f-afbd-8a2e76773ab6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the large white rocks by the side of the road.", "destination": "the large white rocks", "start_xy": [427, 711], "ang_err_namer_deg": 8.678071057777833, "ang_err_cycle_deg": 8.678071057777833, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "b621b797_seg2", "clip": "b621b797-4ffe-5d5f-afbd-8a2e76773ab6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the orange delineator post on the right.", "destination": "the orange delineator post", "start_xy": [484, 703], "ang_err_namer_deg": 11.678519148020763, "ang_err_cycle_deg": 11.585095086801388, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "b621b797_seg1", "clip": "b621b797-4ffe-5d5f-afbd-8a2e76773ab6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the large white rocks by the side of the road.", "destination": "the large white rocks", "start_xy": [427, 711], "ang_err_namer_deg": 8.678071057777833, "ang_err_cycle_deg": 8.678071057777833, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "b621b797_seg2", "clip": "b621b797-4ffe-5d5f-afbd-8a2e76773ab6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b7/b76bf83c-f316-5e92-bd8d-7e08678968ba.json b/labels/outdoor/b7/b76bf83c-f316-5e92-bd8d-7e08678968ba.json
index f3cb6f02d2290564b8d28966e30d8fc7881fbca3..12482fc8954db72d1846dac9e4ebdc4c1bd2c13e 100644
--- a/labels/outdoor/b7/b76bf83c-f316-5e92-bd8d-7e08678968ba.json
+++ b/labels/outdoor/b7/b76bf83c-f316-5e92-bd8d-7e08678968ba.json
@@ -1 +1 @@
-[{"t0": 61, "t_end": 74, "instruction": "Go to the information sign.", "destination": "the information sign", "start_xy": [482, 662], "ang_err_namer_deg": 13.772704936517949, "ang_err_cycle_deg": 13.701392846540664, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "b76bf83c_seg0", "clip": "b76bf83c-f316-5e92-bd8d-7e08678968ba", "source": "spatialvid_v3"}, {"t0": 42, "t_end": 59, "instruction": "Go to the yellow and black safety posts on the side of the road.", "destination": "the yellow and black safety posts", "start_xy": [236, 681], "ang_err_namer_deg": 0.18788350423187142, "ang_err_cycle_deg": 0.12351676824635752, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b76bf83c_seg1", "clip": "b76bf83c-f316-5e92-bd8d-7e08678968ba", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [510, 634], "ang_err_namer_deg": 2.9195719240761, "ang_err_cycle_deg": 2.9909096659025205, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "b76bf83c_seg2", "clip": "b76bf83c-f316-5e92-bd8d-7e08678968ba", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 59, "instruction": "Go to the yellow and black safety posts on the side of the road.", "destination": "the yellow and black safety posts", "start_xy": [236, 681], "ang_err_namer_deg": 0.18788350423187142, "ang_err_cycle_deg": 0.12351676824635752, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b76bf83c_seg1", "clip": "b76bf83c-f316-5e92-bd8d-7e08678968ba", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b8/b84e1a9a-4883-591c-9413-38cde38e0aac.json b/labels/outdoor/b8/b84e1a9a-4883-591c-9413-38cde38e0aac.json
index 3dbd74fa787f4f1fe4b1432818ab93c09cef1992..4155e65649d5c844a50f0fa8e4734e365cec01af 100644
--- a/labels/outdoor/b8/b84e1a9a-4883-591c-9413-38cde38e0aac.json
+++ b/labels/outdoor/b8/b84e1a9a-4883-591c-9413-38cde38e0aac.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the Shell gas station.", "destination": "the Shell gas station", "start_xy": [376, 625], "ang_err_namer_deg": 3.1481958561657715, "ang_err_cycle_deg": 6.960996632611504, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "b84e1a9a_seg0", "clip": "b84e1a9a-4883-591c-9413-38cde38e0aac", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the blue sign.", "destination": "the blue sign", "start_xy": [409, 612], "ang_err_namer_deg": 3.0137893565997134, "ang_err_cycle_deg": 3.0137893565997134, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "b84e1a9a_seg1", "clip": "b84e1a9a-4883-591c-9413-38cde38e0aac", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 19, "instruction": "Go to the area by the street lamp.", "destination": "the area by the street lamp", "start_xy": [570, 550], "ang_err_namer_deg": 7.188775176206773, "ang_err_cycle_deg": 9.00107963068389, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "b84e1a9a_seg2", "clip": "b84e1a9a-4883-591c-9413-38cde38e0aac", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 19, "instruction": "Go to the area by the street lamp.", "destination": "the area by the street lamp", "start_xy": [570, 550], "ang_err_namer_deg": 7.188775176206773, "ang_err_cycle_deg": 9.00107963068389, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "b84e1a9a_seg2", "clip": "b84e1a9a-4883-591c-9413-38cde38e0aac", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b8/b8fee545-c3a9-52ce-ae8b-25975fb55805.json b/labels/outdoor/b8/b8fee545-c3a9-52ce-ae8b-25975fb55805.json
index 5c6447cc3c851d7b6f77bf7287439e16ae3ac297..3f18b9e9920f0be2dcc6b6f10269ec81b65bcee5 100644
--- a/labels/outdoor/b8/b8fee545-c3a9-52ce-ae8b-25975fb55805.json
+++ b/labels/outdoor/b8/b8fee545-c3a9-52ce-ae8b-25975fb55805.json
@@ -1 +1 @@
-[{"t0": 67, "t_end": 81, "instruction": "Go to the tree in the middle of the road.", "destination": "the tree in the middle of the road", "start_xy": [510, 709], "ang_err_namer_deg": 1.9982520980960325, "ang_err_cycle_deg": 1.9354933510066947, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "b8fee545_seg0", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}, {"t0": 51, "t_end": 65, "instruction": "Go to the area by the road sign.", "destination": "the road sign", "start_xy": [47, 720], "ang_err_namer_deg": 4.469510439988286, "ang_err_cycle_deg": 4.419124614600147, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "b8fee545_seg1", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 49, "instruction": "Go to the area with the yellow road sign markers.", "destination": "the area with the yellow road sign markers", "start_xy": [732, 622], "ang_err_namer_deg": 6.298188889889432, "ang_err_cycle_deg": 6.298188889889432, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b8fee545_seg2", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the bend in the road where the guardrail curves.", "destination": "the bend in the road where the guardrail curves", "start_xy": [732, 757], "ang_err_namer_deg": 12.81173161779176, "ang_err_cycle_deg": 9.283121981185651, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "b8fee545_seg3", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 67, "t_end": 81, "instruction": "Go to the tree in the middle of the road.", "destination": "the tree in the middle of the road", "start_xy": [510, 709], "ang_err_namer_deg": 1.9982520980960325, "ang_err_cycle_deg": 1.9354933510066947, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "b8fee545_seg0", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 49, "instruction": "Go to the area with the yellow road sign markers.", "destination": "the area with the yellow road sign markers", "start_xy": [732, 622], "ang_err_namer_deg": 6.298188889889432, "ang_err_cycle_deg": 6.298188889889432, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b8fee545_seg2", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the bend in the road where the guardrail curves.", "destination": "the bend in the road where the guardrail curves", "start_xy": [732, 757], "ang_err_namer_deg": 12.81173161779176, "ang_err_cycle_deg": 9.283121981185651, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "b8fee545_seg3", "clip": "b8fee545-c3a9-52ce-ae8b-25975fb55805", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b9/b91ee73a-5672-57f3-9cae-4f75d0599802.json b/labels/outdoor/b9/b91ee73a-5672-57f3-9cae-4f75d0599802.json
index ee0e2d1e4372b3365b97974faa7a0873dd6ba285..f835c5c03c03bacc065e33c635e13c6a0cc504a4 100644
--- a/labels/outdoor/b9/b91ee73a-5672-57f3-9cae-4f75d0599802.json
+++ b/labels/outdoor/b9/b91ee73a-5672-57f3-9cae-4f75d0599802.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the red post by the side of the road.", "destination": "red post", "start_xy": [645, 730], "ang_err_namer_deg": 7.433385674740789, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "b91ee73a_seg0", "clip": "b91ee73a-5672-57f3-9cae-4f75d0599802", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the red post on the right side of the road.", "destination": "the red post on the right side of the road", "start_xy": [680, 725], "ang_err_namer_deg": 5.922732961837578, "ang_err_cycle_deg": 6.0174861455914215, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b91ee73a_seg1", "clip": "b91ee73a-5672-57f3-9cae-4f75d0599802", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 50, "instruction": "Go to the red post on the right side of the road.", "destination": "the red post on the right side of the road", "start_xy": [680, 725], "ang_err_namer_deg": 5.922732961837578, "ang_err_cycle_deg": 6.0174861455914215, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "b91ee73a_seg1", "clip": "b91ee73a-5672-57f3-9cae-4f75d0599802", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b9/b93b334b-9d3d-5736-8abc-167d93acb67d.json b/labels/outdoor/b9/b93b334b-9d3d-5736-8abc-167d93acb67d.json
index 59fa89833a89bb85defc7e2bef02212bf635e6dc..b5e8f02017f5325e24f41deac4399ef1dc680e55 100644
--- a/labels/outdoor/b9/b93b334b-9d3d-5736-8abc-167d93acb67d.json
+++ b/labels/outdoor/b9/b93b334b-9d3d-5736-8abc-167d93acb67d.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 65, "instruction": "Go to the area by the tall evergreen tree on the left side of the road.", "destination": "the tall evergreen tree", "start_xy": [397, 427], "ang_err_namer_deg": 11.204843080782927, "ang_err_cycle_deg": 11.204843080782927, "confidence": "A", "arrival_ok": true, "duration_s": 3.4862862547909215, "tier": "M", "id": "b93b334b_seg0", "clip": "b93b334b-9d3d-5736-8abc-167d93acb67d", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area of the bend in the road.", "destination": "the bend in the road", "start_xy": [560, 557], "ang_err_namer_deg": 8.647678175553292, "ang_err_cycle_deg": 12.254404077337671, "confidence": "B", "arrival_ok": false, "duration_s": 6.422106258825382, "tier": "L", "id": "b93b334b_seg1", "clip": "b93b334b-9d3d-5736-8abc-167d93acb67d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 65, "instruction": "Go to the area by the tall evergreen tree on the left side of the road.", "destination": "the tall evergreen tree", "start_xy": [397, 427], "ang_err_namer_deg": 11.204843080782927, "ang_err_cycle_deg": 11.204843080782927, "confidence": "A", "arrival_ok": true, "duration_s": 3.4862862547909215, "tier": "M", "id": "b93b334b_seg0", "clip": "b93b334b-9d3d-5736-8abc-167d93acb67d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/b9/b981da6d-aed0-5d69-a8eb-21c1d6c7475b.json b/labels/outdoor/b9/b981da6d-aed0-5d69-a8eb-21c1d6c7475b.json
index c71154ed14f613421c7d07be3f49300ac788af23..d175308a06ba747d98221ff6af41c80626f58a3b 100644
--- a/labels/outdoor/b9/b981da6d-aed0-5d69-a8eb-21c1d6c7475b.json
+++ b/labels/outdoor/b9/b981da6d-aed0-5d69-a8eb-21c1d6c7475b.json
@@ -1 +1 @@
-[{"t0": 20, "t_end": 52, "instruction": "Go to the area with the cluster of pine trees.", "destination": "the cluster of pine trees", "start_xy": [863, 251], "ang_err_namer_deg": 0.5791836227265816, "ang_err_cycle_deg": 15.182143850707433, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "b981da6d_seg0", "clip": "b981da6d-aed0-5d69-a8eb-21c1d6c7475b", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 18, "instruction": "Go to the parking spot under the building overhang.", "destination": "the parking spot under the building overhang", "start_xy": [750, 660], "ang_err_namer_deg": 9.036648269087605, "ang_err_cycle_deg": 3.413306113675341, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b981da6d_seg1", "clip": "b981da6d-aed0-5d69-a8eb-21c1d6c7475b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 18, "instruction": "Go to the parking spot under the building overhang.", "destination": "the parking spot under the building overhang", "start_xy": [750, 660], "ang_err_namer_deg": 9.036648269087605, "ang_err_cycle_deg": 3.413306113675341, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "b981da6d_seg1", "clip": "b981da6d-aed0-5d69-a8eb-21c1d6c7475b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bb/bbd14002-ed32-54b6-86bb-693f2ac40770.json b/labels/outdoor/bb/bbd14002-ed32-54b6-86bb-693f2ac40770.json
index e7fc57e75467df92beaf59bb9fd11de04674e01c..90e49a5255d00c6a0c0dd9bec38a7dd7fe31dc6d 100644
--- a/labels/outdoor/bb/bbd14002-ed32-54b6-86bb-693f2ac40770.json
+++ b/labels/outdoor/bb/bbd14002-ed32-54b6-86bb-693f2ac40770.json
@@ -1 +1 @@
-[{"t0": 12, "t_end": 44, "instruction": "Go to the intersection crosswalk.", "destination": "the intersection crosswalk", "start_xy": [485, 488], "ang_err_namer_deg": 7.222458226440901, "ang_err_cycle_deg": 7.723120143338305, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bbd14002_seg0", "clip": "bbd14002-ed32-54b6-86bb-693f2ac40770", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the intersection crosswalk.", "destination": "the intersection crosswalk", "start_xy": [483, 574], "ang_err_namer_deg": 5.38477832420782, "ang_err_cycle_deg": 16.423039317802914, "confidence": "B", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "bbd14002_seg1", "clip": "bbd14002-ed32-54b6-86bb-693f2ac40770", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 12, "t_end": 44, "instruction": "Go to the intersection crosswalk.", "destination": "the intersection crosswalk", "start_xy": [485, 488], "ang_err_namer_deg": 7.222458226440901, "ang_err_cycle_deg": 7.723120143338305, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bbd14002_seg0", "clip": "bbd14002-ed32-54b6-86bb-693f2ac40770", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bb/bbf988a2-56ae-52f3-bc91-bd77da93af69.json b/labels/outdoor/bb/bbf988a2-56ae-52f3-bc91-bd77da93af69.json
index a79f70498de9905c5b4055694f65f3b9a860c94d..71b318a0f4f0a9713520709ae8989f0497fbd195 100644
--- a/labels/outdoor/bb/bbf988a2-56ae-52f3-bc91-bd77da93af69.json
+++ b/labels/outdoor/bb/bbf988a2-56ae-52f3-bc91-bd77da93af69.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the electric vehicle charging station sign.", "destination": "electric vehicle charging station sign", "start_xy": [673, 427], "ang_err_namer_deg": 10.58209131318619, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "bbf988a2_seg0", "clip": "bbf988a2-56ae-52f3-bc91-bd77da93af69", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the Mayan theater.", "destination": "the Mayan theater", "start_xy": [665, 526], "ang_err_namer_deg": 9.70093688902015, "ang_err_cycle_deg": 20.328613691984362, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "bbf988a2_seg1", "clip": "bbf988a2-56ae-52f3-bc91-bd77da93af69", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 26, "instruction": "Go to the green map/kiosk stand on the sidewalk.", "destination": "the green map/kiosk stand", "start_xy": [650, 690], "ang_err_namer_deg": 9.422023835399521, "ang_err_cycle_deg": 9.309381087838387, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "bbf988a2_seg2", "clip": "bbf988a2-56ae-52f3-bc91-bd77da93af69", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 26, "instruction": "Go to the green map/kiosk stand on the sidewalk.", "destination": "the green map/kiosk stand", "start_xy": [650, 690], "ang_err_namer_deg": 9.422023835399521, "ang_err_cycle_deg": 9.309381087838387, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "bbf988a2_seg2", "clip": "bbf988a2-56ae-52f3-bc91-bd77da93af69", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bc/bc1f90a7-4388-5a21-996f-fe0d8e64e4b8.json b/labels/outdoor/bc/bc1f90a7-4388-5a21-996f-fe0d8e64e4b8.json
index 0ce1b438050f87245e343ec4acba28c9e1d858e7..dc095df689e9d9d1edfaed3b408f85e4d2332ceb 100644
--- a/labels/outdoor/bc/bc1f90a7-4388-5a21-996f-fe0d8e64e4b8.json
+++ b/labels/outdoor/bc/bc1f90a7-4388-5a21-996f-fe0d8e64e4b8.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [487, 667], "ang_err_namer_deg": 10.851221147847406, "ang_err_cycle_deg": 7.588707005329301, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "bc1f90a7_seg0", "clip": "bc1f90a7-4388-5a21-996f-fe0d8e64e4b8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [585, 660], "ang_err_namer_deg": 8.70067721407477, "ang_err_cycle_deg": 8.235743795424613, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bc1f90a7_seg1", "clip": "bc1f90a7-4388-5a21-996f-fe0d8e64e4b8", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 21, "instruction": "Go to the area where the stone wall ends.", "destination": "the end of the stone retaining wall", "start_xy": [583, 662], "ang_err_namer_deg": 3.8612503589365836, "ang_err_cycle_deg": 3.8612503589365836, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "bc1f90a7_seg2", "clip": "bc1f90a7-4388-5a21-996f-fe0d8e64e4b8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [487, 667], "ang_err_namer_deg": 10.851221147847406, "ang_err_cycle_deg": 7.588707005329301, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "bc1f90a7_seg0", "clip": "bc1f90a7-4388-5a21-996f-fe0d8e64e4b8", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [585, 660], "ang_err_namer_deg": 8.70067721407477, "ang_err_cycle_deg": 8.235743795424613, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bc1f90a7_seg1", "clip": "bc1f90a7-4388-5a21-996f-fe0d8e64e4b8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bd/bdcebd79-6c41-51cd-bc54-e6679b9e71c6.json b/labels/outdoor/bd/bdcebd79-6c41-51cd-bc54-e6679b9e71c6.json
index 2d41433fc2a11ca67967236402fe4e131a003050..b63e125cee4f5000e47152bcadcb6897c7169127 100644
--- a/labels/outdoor/bd/bdcebd79-6c41-51cd-bc54-e6679b9e71c6.json
+++ b/labels/outdoor/bd/bdcebd79-6c41-51cd-bc54-e6679b9e71c6.json
@@ -1 +1 @@
-[{"t0": 34, "t_end": 66, "instruction": "Go to the road sign.", "destination": "road sign", "start_xy": [628, 665], "ang_err_namer_deg": 6.081095630331427, "ang_err_cycle_deg": 6.001008382826034, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bdcebd79_seg0", "clip": "bdcebd79-6c41-51cd-bc54-e6679b9e71c6", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 32, "instruction": "Go to the wooden shed in the field.", "destination": "the wooden shed in the field", "start_xy": [725, 655], "ang_err_namer_deg": 5.2015073240625656, "ang_err_cycle_deg": 5.2015073240625656, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "bdcebd79_seg1", "clip": "bdcebd79-6c41-51cd-bc54-e6679b9e71c6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 34, "t_end": 66, "instruction": "Go to the road sign.", "destination": "road sign", "start_xy": [628, 665], "ang_err_namer_deg": 6.081095630331427, "ang_err_cycle_deg": 6.001008382826034, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bdcebd79_seg0", "clip": "bdcebd79-6c41-51cd-bc54-e6679b9e71c6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bd/bdeab634-32e4-5b21-add4-8de0b86787a5.json b/labels/outdoor/bd/bdeab634-32e4-5b21-add4-8de0b86787a5.json
index 0256634c0593f5a18abd15ffca28dc874e037185..5b96cdaf01e7551df48bb0b308a0c18057e0a6ef 100644
--- a/labels/outdoor/bd/bdeab634-32e4-5b21-add4-8de0b86787a5.json
+++ b/labels/outdoor/bd/bdeab634-32e4-5b21-add4-8de0b86787a5.json
@@ -1 +1 @@
-[{"t0": 61, "t_end": 74, "instruction": "Go to the yellow road sign on the right.", "destination": "the yellow road sign on the right", "start_xy": [956, 409], "ang_err_namer_deg": 1.6620162631511803, "ang_err_cycle_deg": 25.347261583752573, "confidence": "B", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "bdeab634_seg0", "clip": "bdeab634-32e4-5b21-add4-8de0b86787a5", "source": "spatialvid_v3"}, {"t0": 27, "t_end": 59, "instruction": "Go to the area by the white house with the garage.", "destination": "the white house with the garage", "start_xy": [420, 598], "ang_err_namer_deg": 11.494619345965823, "ang_err_cycle_deg": 11.443076184176352, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "bdeab634_seg1", "clip": "bdeab634-32e4-5b21-add4-8de0b86787a5", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 25, "instruction": "Go to the area with the yellow bollards.", "destination": "the area with the yellow bollards", "start_xy": [810, 700], "ang_err_namer_deg": 2.0464732851288687, "ang_err_cycle_deg": 0.46645275112436085, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "bdeab634_seg2", "clip": "bdeab634-32e4-5b21-add4-8de0b86787a5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 25, "instruction": "Go to the area with the yellow bollards.", "destination": "the area with the yellow bollards", "start_xy": [810, 700], "ang_err_namer_deg": 2.0464732851288687, "ang_err_cycle_deg": 0.46645275112436085, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "bdeab634_seg2", "clip": "bdeab634-32e4-5b21-add4-8de0b86787a5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/be/bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0.json b/labels/outdoor/be/bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0.json
index 5a274773de69a65a32619414ce8f1d3a5f36bcff..ff7c88e08bc3819cf80baacec500747ae0bbe1cf 100644
--- a/labels/outdoor/be/bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0.json
+++ b/labels/outdoor/be/bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the white van on the road.", "destination": "white van", "start_xy": [490, 574], "ang_err_namer_deg": 2.8927934198023415, "ang_err_cycle_deg": 2.8927934198023415, "confidence": "B", "arrival_ok": false, "duration_s": 6.4221063266130844, "tier": "L", "id": "bebab4b3_seg0", "clip": "bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the wooden fence along the road.", "destination": "the wooden fence", "start_xy": [625, 500], "ang_err_namer_deg": 13.123588142372336, "ang_err_cycle_deg": 15.757854788011967, "confidence": "A", "arrival_ok": true, "duration_s": 6.4221063266130844, "tier": "L", "id": "bebab4b3_seg1", "clip": "bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area by the wooden fence along the road.", "destination": "the wooden fence", "start_xy": [625, 500], "ang_err_namer_deg": 13.123588142372336, "ang_err_cycle_deg": 15.757854788011967, "confidence": "A", "arrival_ok": true, "duration_s": 6.4221063266130844, "tier": "L", "id": "bebab4b3_seg1", "clip": "bebab4b3-9dfc-5ddf-a83e-0a3ab91458e0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/bf/bfd85da3-c6d3-5e51-b010-c624315e5e09.json b/labels/outdoor/bf/bfd85da3-c6d3-5e51-b010-c624315e5e09.json
index a9d3cda12db36ba826b1d168b70b70046082cdc7..41a4cbe0504f00a6eb94f7a3ab439d63ef6d7414 100644
--- a/labels/outdoor/bf/bfd85da3-c6d3-5e51-b010-c624315e5e09.json
+++ b/labels/outdoor/bf/bfd85da3-c6d3-5e51-b010-c624315e5e09.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the rock formation along the roadside.", "destination": "the rock formation along the roadside", "start_xy": [482, 482], "ang_err_namer_deg": 13.70483135782365, "ang_err_cycle_deg": 20.299663437657678, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bfd85da3_seg0", "clip": "bfd85da3-c6d3-5e51-b010-c624315e5e09", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [221, 643], "ang_err_namer_deg": 0.29244135740344573, "ang_err_cycle_deg": 0.5566897429252563, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bfd85da3_seg1", "clip": "bfd85da3-c6d3-5e51-b010-c624315e5e09", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [221, 643], "ang_err_namer_deg": 0.29244135740344573, "ang_err_cycle_deg": 0.5566897429252563, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "bfd85da3_seg1", "clip": "bfd85da3-c6d3-5e51-b010-c624315e5e09", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c0/c00f04a3-61ff-5ce7-b3f3-f6dd60c54418.json b/labels/outdoor/c0/c00f04a3-61ff-5ce7-b3f3-f6dd60c54418.json
index bc7e347d3457d63d825565c429ea26266d282493..4b37472b07e91f7edb02ffa338bcc8c42dee9abd 100644
--- a/labels/outdoor/c0/c00f04a3-61ff-5ce7-b3f3-f6dd60c54418.json
+++ b/labels/outdoor/c0/c00f04a3-61ff-5ce7-b3f3-f6dd60c54418.json
@@ -1 +1 @@
-[{"t0": 19, "t_end": 36, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [583, 593], "ang_err_namer_deg": 5.896944465629562, "ang_err_cycle_deg": 9.117813449396856, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c00f04a3_seg0", "clip": "c00f04a3-61ff-5ce7-b3f3-f6dd60c54418", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the cow grazing by the road.", "destination": "the cow", "start_xy": [605, 625], "ang_err_namer_deg": 13.831438205158332, "ang_err_cycle_deg": 13.501084631943986, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "c00f04a3_seg1", "clip": "c00f04a3-61ff-5ce7-b3f3-f6dd60c54418", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 19, "t_end": 36, "instruction": "Go to the sharp bend in the road.", "destination": "the sharp bend in the road", "start_xy": [583, 593], "ang_err_namer_deg": 5.896944465629562, "ang_err_cycle_deg": 9.117813449396856, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c00f04a3_seg0", "clip": "c00f04a3-61ff-5ce7-b3f3-f6dd60c54418", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c0/c059f6fd-44ee-5b4a-95e2-5d4191a83df8.json b/labels/outdoor/c0/c059f6fd-44ee-5b4a-95e2-5d4191a83df8.json
index bca51361c53e34a029635d4c48c15e8f1f62b438..6f4c1336d129a8fb3e07c4912abafaed7104eabe 100644
--- a/labels/outdoor/c0/c059f6fd-44ee-5b4a-95e2-5d4191a83df8.json
+++ b/labels/outdoor/c0/c059f6fd-44ee-5b4a-95e2-5d4191a83df8.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the '松风水月' sign.", "destination": "the '松风水月' sign", "start_xy": [585, 668], "ang_err_namer_deg": 13.538802899547221, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c059f6fd_seg0", "clip": "c059f6fd-44ee-5b4a-95e2-5d4191a83df8", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the blue construction wall.", "destination": "blue construction wall", "start_xy": [622, 724], "ang_err_namer_deg": 12.926708504789298, "ang_err_cycle_deg": 12.926708504789298, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "c059f6fd_seg1", "clip": "c059f6fd-44ee-5b4a-95e2-5d4191a83df8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 10, "instruction": "Go to the blue construction wall.", "destination": "blue construction wall", "start_xy": [622, 724], "ang_err_namer_deg": 12.926708504789298, "ang_err_cycle_deg": 12.926708504789298, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "c059f6fd_seg1", "clip": "c059f6fd-44ee-5b4a-95e2-5d4191a83df8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c0/c0d2f440-e250-5aba-bf10-5a0bce28ce9d.json b/labels/outdoor/c0/c0d2f440-e250-5aba-bf10-5a0bce28ce9d.json
index aa4f85dffd3054c151026734ba630f895f2d4227..7554b1d65790e53ef2dc419619d60fbc48c6e5a5 100644
--- a/labels/outdoor/c0/c0d2f440-e250-5aba-bf10-5a0bce28ce9d.json
+++ b/labels/outdoor/c0/c0d2f440-e250-5aba-bf10-5a0bce28ce9d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the wooden cabin with green window shutters.", "destination": "the wooden cabin with green window shutters", "start_xy": [485, 591], "ang_err_namer_deg": 8.293096917317765, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c0d2f440_seg0", "clip": "c0d2f440-e250-5aba-bf10-5a0bce28ce9d", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the intersection with the yellow building.", "destination": "the intersection with the yellow building", "start_xy": [485, 625], "ang_err_namer_deg": 5.43394319949509, "ang_err_cycle_deg": 4.128069119006379, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c0d2f440_seg1", "clip": "c0d2f440-e250-5aba-bf10-5a0bce28ce9d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the intersection with the yellow building.", "destination": "the intersection with the yellow building", "start_xy": [485, 625], "ang_err_namer_deg": 5.43394319949509, "ang_err_cycle_deg": 4.128069119006379, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c0d2f440_seg1", "clip": "c0d2f440-e250-5aba-bf10-5a0bce28ce9d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c1/c18d6c6e-c878-53c4-b725-be2e97451810.json b/labels/outdoor/c1/c18d6c6e-c878-53c4-b725-be2e97451810.json
index 17aa02112394dc8c32c1b0d659faed42cb0f14a8..c92ef8c75496fd63fdb335ce971d96b4f302533e 100644
--- a/labels/outdoor/c1/c18d6c6e-c878-53c4-b725-be2e97451810.json
+++ b/labels/outdoor/c1/c18d6c6e-c878-53c4-b725-be2e97451810.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the fire hydrant by the road.", "destination": "the fire hydrant", "start_xy": [483, 745], "ang_err_namer_deg": 6.317096211167766, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c18d6c6e_seg0", "clip": "c18d6c6e-c878-53c4-b725-be2e97451810", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the area by the dark fence.", "destination": "the dark fence", "start_xy": [487, 643], "ang_err_namer_deg": 13.51494881538404, "ang_err_cycle_deg": 3.704578940523262, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c18d6c6e_seg1", "clip": "c18d6c6e-c878-53c4-b725-be2e97451810", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 26, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [942, 622], "ang_err_namer_deg": 7.621147013798734, "ang_err_cycle_deg": 7.667481115092182, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "c18d6c6e_seg2", "clip": "c18d6c6e-c878-53c4-b725-be2e97451810", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 55, "instruction": "Go to the area by the dark fence.", "destination": "the dark fence", "start_xy": [487, 643], "ang_err_namer_deg": 13.51494881538404, "ang_err_cycle_deg": 3.704578940523262, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c18d6c6e_seg1", "clip": "c18d6c6e-c878-53c4-b725-be2e97451810", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 26, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [942, 622], "ang_err_namer_deg": 7.621147013798734, "ang_err_cycle_deg": 7.667481115092182, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "c18d6c6e_seg2", "clip": "c18d6c6e-c878-53c4-b725-be2e97451810", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c2/c288f02f-9ef8-51c6-9fe1-516a9ef41756.json b/labels/outdoor/c2/c288f02f-9ef8-51c6-9fe1-516a9ef41756.json
index e6310549f071ff7ceced8a4def7c1dc2260248b6..bc871aa1369cae93b570ce718f5f6a106c54cadb 100644
--- a/labels/outdoor/c2/c288f02f-9ef8-51c6-9fe1-516a9ef41756.json
+++ b/labels/outdoor/c2/c288f02f-9ef8-51c6-9fe1-516a9ef41756.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the houses on the left side of the road.", "destination": "the houses on the left side of the road", "start_xy": [634, 605], "ang_err_namer_deg": 6.602462666610351, "ang_err_cycle_deg": 5.606838969730584, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "c288f02f_seg0", "clip": "c288f02f-9ef8-51c6-9fe1-516a9ef41756", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [302, 601], "ang_err_namer_deg": 4.8865701653481395, "ang_err_cycle_deg": 4.8865701653481395, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c288f02f_seg1", "clip": "c288f02f-9ef8-51c6-9fe1-516a9ef41756", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 20, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [302, 601], "ang_err_namer_deg": 4.8865701653481395, "ang_err_cycle_deg": 4.8865701653481395, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "c288f02f_seg1", "clip": "c288f02f-9ef8-51c6-9fe1-516a9ef41756", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c2/c2d578cc-0eac-525c-b72b-975ea4929291.json b/labels/outdoor/c2/c2d578cc-0eac-525c-b72b-975ea4929291.json
index adfbd43c9e9e2b7ba9c27cfd0826260552a62d7e..a234797b22310400f2da02c85273f51dcc491d91 100644
--- a/labels/outdoor/c2/c2d578cc-0eac-525c-b72b-975ea4929291.json
+++ b/labels/outdoor/c2/c2d578cc-0eac-525c-b72b-975ea4929291.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area of the mountain road where it curves near the snow-covered slope.", "destination": "the curve in the road near the snow-covered slope", "start_xy": [681, 743], "ang_err_namer_deg": 3.408122989910345, "ang_err_cycle_deg": 3.9174732988757577, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "c2d578cc_seg0", "clip": "c2d578cc-0eac-525c-b72b-975ea4929291", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the end of the paved road.", "destination": "the end of the paved road", "start_xy": [485, 662], "ang_err_namer_deg": 0.3488956529439025, "ang_err_cycle_deg": 6.833604618818742, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "c2d578cc_seg1", "clip": "c2d578cc-0eac-525c-b72b-975ea4929291", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the silver pickup truck parked on the side of the road.", "destination": "the silver pickup truck", "start_xy": [427, 665], "ang_err_namer_deg": 5.335973853316803, "ang_err_cycle_deg": 5.665494876185981, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "c2d578cc_seg2", "clip": "c2d578cc-0eac-525c-b72b-975ea4929291", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area of the mountain road where it curves near the snow-covered slope.", "destination": "the curve in the road near the snow-covered slope", "start_xy": [681, 743], "ang_err_namer_deg": 3.408122989910345, "ang_err_cycle_deg": 3.9174732988757577, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "c2d578cc_seg0", "clip": "c2d578cc-0eac-525c-b72b-975ea4929291", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the silver pickup truck parked on the side of the road.", "destination": "the silver pickup truck", "start_xy": [427, 665], "ang_err_namer_deg": 5.335973853316803, "ang_err_cycle_deg": 5.665494876185981, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "c2d578cc_seg2", "clip": "c2d578cc-0eac-525c-b72b-975ea4929291", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c3/c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8.json b/labels/outdoor/c3/c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8.json
index 92ff52990a8e08cc152498c8549702a986efce76..7535080dba8c4b617d80a3d840c753c573fe1aa2 100644
--- a/labels/outdoor/c3/c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8.json
+++ b/labels/outdoor/c3/c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the bright orange tree.", "destination": "the area with the bright orange tree", "start_xy": [487, 622], "ang_err_namer_deg": 9.365154583790572, "ang_err_cycle_deg": 8.463489597724163, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "c3e7f0b4_seg0", "clip": "c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the series of yellow and orange reflective bollards along the green guardrail.", "destination": "the series of yellow and orange reflective bollards along the green guardrail", "start_xy": [625, 794], "ang_err_namer_deg": 10.851414967266965, "ang_err_cycle_deg": 14.616251763073054, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c3e7f0b4_seg1", "clip": "c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the series of yellow and orange reflective bollards along the green guardrail.", "destination": "the series of yellow and orange reflective bollards along the green guardrail", "start_xy": [625, 794], "ang_err_namer_deg": 10.851414967266965, "ang_err_cycle_deg": 14.616251763073054, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c3e7f0b4_seg1", "clip": "c3e7f0b4-5bc5-52a9-8b65-93f69e9a72a8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c4/c45364bb-3df3-5dd2-b04b-fb55a105ab56.json b/labels/outdoor/c4/c45364bb-3df3-5dd2-b04b-fb55a105ab56.json
index 1d8a1aaaf576dbc2f44a6c315cd0dd9fc0f104e2..183282448e05b7dea12a39f4ea05d823ab30e48d 100644
--- a/labels/outdoor/c4/c45364bb-3df3-5dd2-b04b-fb55a105ab56.json
+++ b/labels/outdoor/c4/c45364bb-3df3-5dd2-b04b-fb55a105ab56.json
@@ -1 +1 @@
-[{"t0": 39, "t_end": 71, "instruction": "Go to the area in front of the building with the corner pub.", "destination": "the building with the corner pub", "start_xy": [450, 500], "ang_err_namer_deg": 3.023958958756127, "ang_err_cycle_deg": 3.4538001822417903, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "c45364bb_seg0", "clip": "c45364bb-3df3-5dd2-b04b-fb55a105ab56", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 27, "instruction": "Go to the area by the yellow building.", "destination": "the yellow building", "start_xy": [483, 476], "ang_err_namer_deg": 10.039485457760124, "ang_err_cycle_deg": 14.69546909037809, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "c45364bb_seg1", "clip": "c45364bb-3df3-5dd2-b04b-fb55a105ab56", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 14, "t_end": 27, "instruction": "Go to the area by the yellow building.", "destination": "the yellow building", "start_xy": [483, 476], "ang_err_namer_deg": 10.039485457760124, "ang_err_cycle_deg": 14.69546909037809, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "c45364bb_seg1", "clip": "c45364bb-3df3-5dd2-b04b-fb55a105ab56", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c4/c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e.json b/labels/outdoor/c4/c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e.json
index e1e4565b0d28c57f920c495045ed8ef9b894512f..57ba361cc918de7e09545aa2f1a9bb97f585ae28 100644
--- a/labels/outdoor/c4/c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e.json
+++ b/labels/outdoor/c4/c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the utility pole.", "destination": "the area by the utility pole", "start_xy": [809, 551], "ang_err_namer_deg": 10.61111947316221, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "c4a665f3_seg0", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the electrical pole on the right.", "destination": "the electrical pole on the right", "start_xy": [738, 453], "ang_err_namer_deg": 10.733751223155153, "ang_err_cycle_deg": 10.733751223155153, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "c4a665f3_seg1", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [632, 626], "ang_err_namer_deg": 6.002557004751897, "ang_err_cycle_deg": 6.172261473331561, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c4a665f3_seg2", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the road sign by the bridge railing.", "destination": "the road sign", "start_xy": [486, 625], "ang_err_namer_deg": 7.0418674089902975, "ang_err_cycle_deg": 7.130250580133608, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c4a665f3_seg3", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "the road sign on the right", "start_xy": [632, 626], "ang_err_namer_deg": 6.002557004751897, "ang_err_cycle_deg": 6.172261473331561, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c4a665f3_seg2", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the road sign by the bridge railing.", "destination": "the road sign", "start_xy": [486, 625], "ang_err_namer_deg": 7.0418674089902975, "ang_err_cycle_deg": 7.130250580133608, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c4a665f3_seg3", "clip": "c4a665f3-4e2e-5a7b-bea9-33dbfd7e8d2e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c5/c508e4f7-5e39-5f38-9c28-3ac56e70fc00.json b/labels/outdoor/c5/c508e4f7-5e39-5f38-9c28-3ac56e70fc00.json
index 00cac0d5519a74f85da46750621574f1dab4328f..1afe2209969f9dcfa62bc8a8e96516514a798f48 100644
--- a/labels/outdoor/c5/c508e4f7-5e39-5f38-9c28-3ac56e70fc00.json
+++ b/labels/outdoor/c5/c508e4f7-5e39-5f38-9c28-3ac56e70fc00.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the road sign by the hillside.", "destination": "the road sign", "start_xy": [591, 590], "ang_err_namer_deg": 3.1913999292134916, "ang_err_cycle_deg": 3.49277858905293, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "c508e4f7_seg0", "clip": "c508e4f7-5e39-5f38-9c28-3ac56e70fc00", "source": "spatialvid_v3"}, {"t0": 24, "t_end": 34, "instruction": "Go to the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [483, 709], "ang_err_namer_deg": 8.716670562038457, "ang_err_cycle_deg": 9.022172190915084, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c508e4f7_seg1", "clip": "c508e4f7-5e39-5f38-9c28-3ac56e70fc00", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 22, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [268, 662], "ang_err_namer_deg": 4.428113019431575, "ang_err_cycle_deg": 4.497870919644932, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "c508e4f7_seg2", "clip": "c508e4f7-5e39-5f38-9c28-3ac56e70fc00", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 24, "t_end": 34, "instruction": "Go to the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [483, 709], "ang_err_namer_deg": 8.716670562038457, "ang_err_cycle_deg": 9.022172190915084, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "c508e4f7_seg1", "clip": "c508e4f7-5e39-5f38-9c28-3ac56e70fc00", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 22, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [268, 662], "ang_err_namer_deg": 4.428113019431575, "ang_err_cycle_deg": 4.497870919644932, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "c508e4f7_seg2", "clip": "c508e4f7-5e39-5f38-9c28-3ac56e70fc00", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c6/c6d741df-7feb-54ee-b346-e38ab8a2781d.json b/labels/outdoor/c6/c6d741df-7feb-54ee-b346-e38ab8a2781d.json
index 9bcc2afd072ba974e5126eb6012e7f5a9c33c021..169059d336e8aa8afeb424419226b5f3b9cf888a 100644
--- a/labels/outdoor/c6/c6d741df-7feb-54ee-b346-e38ab8a2781d.json
+++ b/labels/outdoor/c6/c6d741df-7feb-54ee-b346-e38ab8a2781d.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the vehicle on the road.", "destination": "the vehicle on the road", "start_xy": [495, 753], "ang_err_namer_deg": 3.3594180476036115, "ang_err_cycle_deg": 3.3594180476036115, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "c6d741df_seg0", "clip": "c6d741df-7feb-54ee-b346-e38ab8a2781d", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the area of the road where it curves slightly to the right.", "destination": "the curve in the road", "start_xy": [498, 724], "ang_err_namer_deg": 8.19899188370145, "ang_err_cycle_deg": 9.447815873347265, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c6d741df_seg1", "clip": "c6d741df-7feb-54ee-b346-e38ab8a2781d", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the bend in the road near the lake.", "destination": "the bend in the road near the lake", "start_xy": [486, 741], "ang_err_namer_deg": 0.2664315860454958, "ang_err_cycle_deg": 0.04569561064436299, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "c6d741df_seg2", "clip": "c6d741df-7feb-54ee-b346-e38ab8a2781d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 45, "instruction": "Go to the area of the road where it curves slightly to the right.", "destination": "the curve in the road", "start_xy": [498, 724], "ang_err_namer_deg": 8.19899188370145, "ang_err_cycle_deg": 9.447815873347265, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c6d741df_seg1", "clip": "c6d741df-7feb-54ee-b346-e38ab8a2781d", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the bend in the road near the lake.", "destination": "the bend in the road near the lake", "start_xy": [486, 741], "ang_err_namer_deg": 0.2664315860454958, "ang_err_cycle_deg": 0.04569561064436299, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "c6d741df_seg2", "clip": "c6d741df-7feb-54ee-b346-e38ab8a2781d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c7/c7166660-3786-51d7-a6f4-a4da28b812df.json b/labels/outdoor/c7/c7166660-3786-51d7-a6f4-a4da28b812df.json
index cc65065944dc49c99a68f0e1273b7732c68f0318..a5300297baf0dbc8ef5beda1472e1a24a2193de7 100644
--- a/labels/outdoor/c7/c7166660-3786-51d7-a6f4-a4da28b812df.json
+++ b/labels/outdoor/c7/c7166660-3786-51d7-a6f4-a4da28b812df.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the building with the white roof.", "destination": "the building with the white roof", "start_xy": [622, 578], "ang_err_namer_deg": 4.587384390074492, "ang_err_cycle_deg": 2.949356945309915, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c7166660_seg0", "clip": "c7166660-3786-51d7-a6f4-a4da28b812df", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the blue road sign on the side of the road.", "destination": "the blue road sign", "start_xy": [361, 587], "ang_err_namer_deg": 0.050834163885358136, "ang_err_cycle_deg": 0.050834163885358136, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "c7166660_seg1", "clip": "c7166660-3786-51d7-a6f4-a4da28b812df", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the blue-roofed building.", "destination": "the blue-roofed building", "start_xy": [517, 623], "ang_err_namer_deg": 4.915817643906798, "ang_err_cycle_deg": 5.641662831903008, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "c7166660_seg2", "clip": "c7166660-3786-51d7-a6f4-a4da28b812df", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the building with the white roof.", "destination": "the building with the white roof", "start_xy": [622, 578], "ang_err_namer_deg": 4.587384390074492, "ang_err_cycle_deg": 2.949356945309915, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c7166660_seg0", "clip": "c7166660-3786-51d7-a6f4-a4da28b812df", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c7/c77784f6-150f-5c39-a777-0bca32fc142f.json b/labels/outdoor/c7/c77784f6-150f-5c39-a777-0bca32fc142f.json
index d491ed033438e9928e1d73c9a0576256f9e6ae43..bf75cfda00ef98425e6fb88eea877b0162b8f7a2 100644
--- a/labels/outdoor/c7/c77784f6-150f-5c39-a777-0bca32fc142f.json
+++ b/labels/outdoor/c7/c77784f6-150f-5c39-a777-0bca32fc142f.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area of trees bordering the road.", "destination": "the area of trees bordering the road", "start_xy": [485, 505], "ang_err_namer_deg": 1.6181900595602101, "ang_err_cycle_deg": 13.591470399183205, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "c77784f6_seg0", "clip": "c77784f6-150f-5c39-a777-0bca32fc142f", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the area of the road near the trees.", "destination": "the area of the road near the trees", "start_xy": [557, 574], "ang_err_namer_deg": 3.6001332196540288, "ang_err_cycle_deg": 1.4745563032947593, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "c77784f6_seg1", "clip": "c77784f6-150f-5c39-a777-0bca32fc142f", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area by the guardrail in the distance.", "destination": "the area by the guardrail in the distance", "start_xy": [780, 558], "ang_err_namer_deg": 10.291375626700066, "ang_err_cycle_deg": 0.5711943938668204, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "c77784f6_seg2", "clip": "c77784f6-150f-5c39-a777-0bca32fc142f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 29, "t_end": 49, "instruction": "Go to the area of the road near the trees.", "destination": "the area of the road near the trees", "start_xy": [557, 574], "ang_err_namer_deg": 3.6001332196540288, "ang_err_cycle_deg": 1.4745563032947593, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "c77784f6_seg1", "clip": "c77784f6-150f-5c39-a777-0bca32fc142f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c8/c8e27abd-bd26-509d-b1e9-fdc06675d299.json b/labels/outdoor/c8/c8e27abd-bd26-509d-b1e9-fdc06675d299.json
index 574d935b0a41a8ab20535e58e5c75e0937d6da04..e6e025dbe75a08014e6317dc6b67d07934979e90 100644
--- a/labels/outdoor/c8/c8e27abd-bd26-509d-b1e9-fdc06675d299.json
+++ b/labels/outdoor/c8/c8e27abd-bd26-509d-b1e9-fdc06675d299.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the road where the silver car is driving.", "destination": "the silver car on the road", "start_xy": [386, 714], "ang_err_namer_deg": 2.5025741659507927, "ang_err_cycle_deg": 3.338080594199153, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "c8e27abd_seg0", "clip": "c8e27abd-bd26-509d-b1e9-fdc06675d299", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the road signs on the right.", "destination": "the road signs on the right", "start_xy": [476, 648], "ang_err_namer_deg": 12.200420312227575, "ang_err_cycle_deg": 11.966807581846881, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "c8e27abd_seg1", "clip": "c8e27abd-bd26-509d-b1e9-fdc06675d299", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the road section near the car.", "destination": "the road section near the car", "start_xy": [482, 681], "ang_err_namer_deg": 1.2971852567949826, "ang_err_cycle_deg": 1.3751006440363356, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "c8e27abd_seg2", "clip": "c8e27abd-bd26-509d-b1e9-fdc06675d299", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 50, "instruction": "Go to the road signs on the right.", "destination": "the road signs on the right", "start_xy": [476, 648], "ang_err_namer_deg": 12.200420312227575, "ang_err_cycle_deg": 11.966807581846881, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "c8e27abd_seg1", "clip": "c8e27abd-bd26-509d-b1e9-fdc06675d299", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c9/c994071f-9f16-5879-a104-cc613aa56ada.json b/labels/outdoor/c9/c994071f-9f16-5879-a104-cc613aa56ada.json
index 794aed4fbc31efb29b6fa8b1d6f22c2a93a5938e..a3df83406fa59c31666909e95f14b071a82d9776 100644
--- a/labels/outdoor/c9/c994071f-9f16-5879-a104-cc613aa56ada.json
+++ b/labels/outdoor/c9/c994071f-9f16-5879-a104-cc613aa56ada.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the large tree.", "destination": "the large tree", "start_xy": [519, 308], "ang_err_namer_deg": 2.8644051721680017, "ang_err_cycle_deg": 2.568209271770976, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "c994071f_seg0", "clip": "c994071f-9f16-5879-a104-cc613aa56ada", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the yellow house with the grey fence.", "destination": "the yellow house", "start_xy": [498, 558], "ang_err_namer_deg": 7.622763348479749, "ang_err_cycle_deg": 3.358993575705668, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c994071f_seg1", "clip": "c994071f-9f16-5879-a104-cc613aa56ada", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the yellow house with the grey fence.", "destination": "the yellow house", "start_xy": [498, 558], "ang_err_namer_deg": 7.622763348479749, "ang_err_cycle_deg": 3.358993575705668, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "c994071f_seg1", "clip": "c994071f-9f16-5879-a104-cc613aa56ada", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/c9/c9c2cbe3-61d9-5596-a74c-8e1508a93f9d.json b/labels/outdoor/c9/c9c2cbe3-61d9-5596-a74c-8e1508a93f9d.json
index f1dcdb424fa3d978ea1770a189885f40c8161d65..df821623d85fbae9081830e7e441b8f90e565779 100644
--- a/labels/outdoor/c9/c9c2cbe3-61d9-5596-a74c-8e1508a93f9d.json
+++ b/labels/outdoor/c9/c9c2cbe3-61d9-5596-a74c-8e1508a93f9d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the blue truck.", "destination": "blue truck", "start_xy": [328, 655], "ang_err_namer_deg": 0.6734454765580263, "ang_err_cycle_deg": 0.6734454765580263, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "c9c2cbe3_seg0", "clip": "c9c2cbe3-61d9-5596-a74c-8e1508a93f9d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the utility pole on the right side of the road.", "destination": "the utility pole", "start_xy": [583, 643], "ang_err_namer_deg": 0.7794823327207197, "ang_err_cycle_deg": 0.7794823327207197, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "c9c2cbe3_seg1", "clip": "c9c2cbe3-61d9-5596-a74c-8e1508a93f9d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the end of the road.", "destination": "the end of the road", "start_xy": [456, 743], "ang_err_namer_deg": 5.010128138010664, "ang_err_cycle_deg": 2.6556863372391937, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "c9c2cbe3_seg2", "clip": "c9c2cbe3-61d9-5596-a74c-8e1508a93f9d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the end of the road.", "destination": "the end of the road", "start_xy": [456, 743], "ang_err_namer_deg": 5.010128138010664, "ang_err_cycle_deg": 2.6556863372391937, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "c9c2cbe3_seg2", "clip": "c9c2cbe3-61d9-5596-a74c-8e1508a93f9d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ca/ca01af0f-fc0e-515a-b609-c4673b7e12ae.json b/labels/outdoor/ca/ca01af0f-fc0e-515a-b609-c4673b7e12ae.json
index d28b93133d091ed674815d08fe45ccd8bf195499..e960b5f39bbd463c1d713a0bcf4354a59ddc5bb7 100644
--- a/labels/outdoor/ca/ca01af0f-fc0e-515a-b609-c4673b7e12ae.json
+++ b/labels/outdoor/ca/ca01af0f-fc0e-515a-b609-c4673b7e12ae.json
@@ -1 +1 @@
-[{"t0": 15, "t_end": 53, "instruction": "Go to the road sign on the right side of the road.", "destination": "the road sign on the right side of the road", "start_xy": [571, 501], "ang_err_namer_deg": 8.674111012794922, "ang_err_cycle_deg": 8.674111012794922, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "ca01af0f_seg0", "clip": "ca01af0f-fc0e-515a-b609-c4673b7e12ae", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 13, "instruction": "Go to the rock formation on the right side of the road.", "destination": "the rock formation on the right", "start_xy": [569, 506], "ang_err_namer_deg": 11.105832289343674, "ang_err_cycle_deg": 11.716240973078069, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "ca01af0f_seg1", "clip": "ca01af0f-fc0e-515a-b609-c4673b7e12ae", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 13, "instruction": "Go to the rock formation on the right side of the road.", "destination": "the rock formation on the right", "start_xy": [569, 506], "ang_err_namer_deg": 11.105832289343674, "ang_err_cycle_deg": 11.716240973078069, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "ca01af0f_seg1", "clip": "ca01af0f-fc0e-515a-b609-c4673b7e12ae", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ca/ca2e2008-ad83-519d-8a54-ddc9a4386aca.json b/labels/outdoor/ca/ca2e2008-ad83-519d-8a54-ddc9a4386aca.json
index 863ea8698a1a498ea194dbced0571fafd608a659..663cf1fc2800393e1058a30ead39a5de5ea120a5 100644
--- a/labels/outdoor/ca/ca2e2008-ad83-519d-8a54-ddc9a4386aca.json
+++ b/labels/outdoor/ca/ca2e2008-ad83-519d-8a54-ddc9a4386aca.json
@@ -1 +1 @@
-[{"t0": 27, "t_end": 62, "instruction": "Go to the sharp curve in the mountain road.", "destination": "the sharp curve in the mountain road", "start_xy": [372, 745], "ang_err_namer_deg": 9.73369404913013, "ang_err_cycle_deg": 6.503792616416086, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "ca2e2008_seg0", "clip": "ca2e2008-ad83-519d-8a54-ddc9a4386aca", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 25, "instruction": "Go to the parked camper van.", "destination": "parked camper van", "start_xy": [218, 570], "ang_err_namer_deg": 4.079738297785938, "ang_err_cycle_deg": 4.079738297785938, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883111415189, "tier": "M", "id": "ca2e2008_seg1", "clip": "ca2e2008-ad83-519d-8a54-ddc9a4386aca", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 27, "t_end": 62, "instruction": "Go to the sharp curve in the mountain road.", "destination": "the sharp curve in the mountain road", "start_xy": [372, 745], "ang_err_namer_deg": 9.73369404913013, "ang_err_cycle_deg": 6.503792616416086, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "ca2e2008_seg0", "clip": "ca2e2008-ad83-519d-8a54-ddc9a4386aca", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ca/cad23deb-f1ac-5d9f-afb6-eda882233efe.json b/labels/outdoor/ca/cad23deb-f1ac-5d9f-afb6-eda882233efe.json
index e1c79634b12af2ad3d1785d00ee7739e640c10ff..0bf82d857aa89033e595e5d1c15ae20def173916 100644
--- a/labels/outdoor/ca/cad23deb-f1ac-5d9f-afb6-eda882233efe.json
+++ b/labels/outdoor/ca/cad23deb-f1ac-5d9f-afb6-eda882233efe.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 61, "instruction": "Go to the stone mile marker by the side of the road.", "destination": "stone mile marker", "start_xy": [612, 718], "ang_err_namer_deg": 6.682474953851637, "ang_err_cycle_deg": 6.448898665303673, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "cad23deb_seg0", "clip": "cad23deb-f1ac-5d9f-afb6-eda882233efe", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 24, "instruction": "Go to the area by the small building on the right.", "destination": "the small building on the right", "start_xy": [776, 743], "ang_err_namer_deg": 12.71640117777666, "ang_err_cycle_deg": 2.2304201064503397, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "cad23deb_seg1", "clip": "cad23deb-f1ac-5d9f-afb6-eda882233efe", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 26, "t_end": 61, "instruction": "Go to the stone mile marker by the side of the road.", "destination": "stone mile marker", "start_xy": [612, 718], "ang_err_namer_deg": 6.682474953851637, "ang_err_cycle_deg": 6.448898665303673, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "cad23deb_seg0", "clip": "cad23deb-f1ac-5d9f-afb6-eda882233efe", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cb/cba16a24-48cb-5dc1-b98a-98a66d462fc5.json b/labels/outdoor/cb/cba16a24-48cb-5dc1-b98a-98a66d462fc5.json
index 731c1b3f7d3277a339ac182eb8925b7b029a7b9b..132133e1a1a68b3e315b833e86eadae24aaea384 100644
--- a/labels/outdoor/cb/cba16a24-48cb-5dc1-b98a-98a66d462fc5.json
+++ b/labels/outdoor/cb/cba16a24-48cb-5dc1-b98a-98a66d462fc5.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the yellow and black warning sign.", "destination": "yellow and black warning sign", "start_xy": [625, 625], "ang_err_namer_deg": 3.774211916110989, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "cba16a24_seg0", "clip": "cba16a24-48cb-5dc1-b98a-98a66d462fc5", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the littering sign.", "destination": "the littering sign", "start_xy": [651, 622], "ang_err_namer_deg": 10.125243518491423, "ang_err_cycle_deg": 10.125243518491423, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "cba16a24_seg1", "clip": "cba16a24-48cb-5dc1-b98a-98a66d462fc5", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "road sign", "start_xy": [612, 610], "ang_err_namer_deg": 9.818305464892244, "ang_err_cycle_deg": 10.088854618694574, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "cba16a24_seg2", "clip": "cba16a24-48cb-5dc1-b98a-98a66d462fc5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the road sign on the right.", "destination": "road sign", "start_xy": [612, 610], "ang_err_namer_deg": 9.818305464892244, "ang_err_cycle_deg": 10.088854618694574, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "cba16a24_seg2", "clip": "cba16a24-48cb-5dc1-b98a-98a66d462fc5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cb/cbbb9414-52cc-5f04-aeb0-0c624be0a5a0.json b/labels/outdoor/cb/cbbb9414-52cc-5f04-aeb0-0c624be0a5a0.json
index 094271d659619bec0372aa8d3f78d5720bf48bc8..b91315b310ecd481d79cf1d5894055990f358f93 100644
--- a/labels/outdoor/cb/cbbb9414-52cc-5f04-aeb0-0c624be0a5a0.json
+++ b/labels/outdoor/cb/cbbb9414-52cc-5f04-aeb0-0c624be0a5a0.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the concrete barriers along the edge of the road.", "destination": "concrete barriers", "start_xy": [427, 569], "ang_err_namer_deg": 5.576420365845636, "ang_err_cycle_deg": 5.239065607898818, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816575608175, "tier": "M", "id": "cbbb9414_seg0", "clip": "cbbb9414-52cc-5f04-aeb0-0c624be0a5a0", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the stone bunker on the side of the road.", "destination": "stone bunker", "start_xy": [560, 558], "ang_err_namer_deg": 6.864927684598194, "ang_err_cycle_deg": 8.806727895789423, "confidence": "B", "arrival_ok": false, "duration_s": 6.423083165594007, "tier": "L", "id": "cbbb9414_seg1", "clip": "cbbb9414-52cc-5f04-aeb0-0c624be0a5a0", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [691, 526], "ang_err_namer_deg": 13.638776217783786, "ang_err_cycle_deg": 13.796635399637747, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883223104633, "tier": "M", "id": "cbbb9414_seg2", "clip": "cbbb9414-52cc-5f04-aeb0-0c624be0a5a0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the concrete barriers along the edge of the road.", "destination": "concrete barriers", "start_xy": [427, 569], "ang_err_namer_deg": 5.576420365845636, "ang_err_cycle_deg": 5.239065607898818, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816575608175, "tier": "M", "id": "cbbb9414_seg0", "clip": "cbbb9414-52cc-5f04-aeb0-0c624be0a5a0", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [691, 526], "ang_err_namer_deg": 13.638776217783786, "ang_err_cycle_deg": 13.796635399637747, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883223104633, "tier": "M", "id": "cbbb9414_seg2", "clip": "cbbb9414-52cc-5f04-aeb0-0c624be0a5a0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cb/cbe4acd6-1ab8-513b-b51e-fb70732e8a1d.json b/labels/outdoor/cb/cbe4acd6-1ab8-513b-b51e-fb70732e8a1d.json
index 5a30fed5e06c87647c0d6fca678d9b8765e81942..b1b22d323028eca9252c18ed882a376079c11ae2 100644
--- a/labels/outdoor/cb/cbe4acd6-1ab8-513b-b51e-fb70732e8a1d.json
+++ b/labels/outdoor/cb/cbe4acd6-1ab8-513b-b51e-fb70732e8a1d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the small building on the left side of the road.", "destination": "the small building on the left side of the road", "start_xy": [68, 605], "ang_err_namer_deg": 0.053642793021688985, "ang_err_cycle_deg": 0.1116745581758296, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "cbe4acd6_seg0", "clip": "cbe4acd6-1ab8-513b-b51e-fb70732e8a1d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the blue mural on the stone wall.", "destination": "the blue mural on the stone wall", "start_xy": [662, 622], "ang_err_namer_deg": 1.2127730487216168, "ang_err_cycle_deg": 1.436028940887175, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "cbe4acd6_seg1", "clip": "cbe4acd6-1ab8-513b-b51e-fb70732e8a1d", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow truck parked on the side of the road.", "destination": "the yellow truck", "start_xy": [427, 637], "ang_err_namer_deg": 8.299107114314056, "ang_err_cycle_deg": 8.299107114314056, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "cbe4acd6_seg2", "clip": "cbe4acd6-1ab8-513b-b51e-fb70732e8a1d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the yellow truck parked on the side of the road.", "destination": "the yellow truck", "start_xy": [427, 637], "ang_err_namer_deg": 8.299107114314056, "ang_err_cycle_deg": 8.299107114314056, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "cbe4acd6_seg2", "clip": "cbe4acd6-1ab8-513b-b51e-fb70732e8a1d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cc/cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad.json b/labels/outdoor/cc/cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad.json
index 24aa5fa78dea2a6a6c274ab14efa018dcc0352cc..5e9d49b8ed26ac7cf1a2d27a3180a600da2ef10a 100644
--- a/labels/outdoor/cc/cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad.json
+++ b/labels/outdoor/cc/cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 59, "instruction": "Go to the stone milestone by the side of the road.", "destination": "stone milestone", "start_xy": [813, 650], "ang_err_namer_deg": 4.912735560712615, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "cc2d32a4_seg0", "clip": "cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the bend in the road near the trees.", "destination": "the bend in the road near the trees", "start_xy": [583, 661], "ang_err_namer_deg": 4.1071400012613095, "ang_err_cycle_deg": 4.1071400012613095, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "cc2d32a4_seg1", "clip": "cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the bend in the road near the trees.", "destination": "the bend in the road near the trees", "start_xy": [583, 661], "ang_err_namer_deg": 4.1071400012613095, "ang_err_cycle_deg": 4.1071400012613095, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "cc2d32a4_seg1", "clip": "cc2d32a4-5ef5-5ff0-8d0b-1e1e357fefad", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cc/cc8907ab-a890-5923-a067-a74e90c33f20.json b/labels/outdoor/cc/cc8907ab-a890-5923-a067-a74e90c33f20.json
index d1693332edd51e60e829232eb38a328d63742391..fe98755e8b26e44d83cfcb5bf6189db29804c5f2 100644
--- a/labels/outdoor/cc/cc8907ab-a890-5923-a067-a74e90c33f20.json
+++ b/labels/outdoor/cc/cc8907ab-a890-5923-a067-a74e90c33f20.json
@@ -1 +1 @@
-[{"t0": 12, "t_end": 44, "instruction": "Go to the area by the subway entrance.", "destination": "the subway entrance", "start_xy": [587, 456], "ang_err_namer_deg": 13.287433173803233, "ang_err_cycle_deg": 21.586464045881595, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "cc8907ab_seg0", "clip": "cc8907ab-a890-5923-a067-a74e90c33f20", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the 'Minzu Road Food Street' entrance archway.", "destination": "the 'Minzu Road Food Street' entrance archway", "start_xy": [353, 526], "ang_err_namer_deg": 12.463285711900602, "ang_err_cycle_deg": 12.531432647673633, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cc8907ab_seg1", "clip": "cc8907ab-a890-5923-a067-a74e90c33f20", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 10, "instruction": "Go to the 'Minzu Road Food Street' entrance archway.", "destination": "the 'Minzu Road Food Street' entrance archway", "start_xy": [353, 526], "ang_err_namer_deg": 12.463285711900602, "ang_err_cycle_deg": 12.531432647673633, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cc8907ab_seg1", "clip": "cc8907ab-a890-5923-a067-a74e90c33f20", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cc/ccfb605a-05d4-50a8-897e-7203fe9b0a62.json b/labels/outdoor/cc/ccfb605a-05d4-50a8-897e-7203fe9b0a62.json
index 1f26f33dadfc9f4218c6a651a791fdacb0a93f52..94216687f9125c4045bc5a1e7fea95dd5e9645d7 100644
--- a/labels/outdoor/cc/ccfb605a-05d4-50a8-897e-7203fe9b0a62.json
+++ b/labels/outdoor/cc/ccfb605a-05d4-50a8-897e-7203fe9b0a62.json
@@ -1 +1 @@
-[{"t0": 53, "t_end": 74, "instruction": "Go to the area overlooking the lake.", "destination": "the area overlooking the lake", "start_xy": [776, 648], "ang_err_namer_deg": 10.998011335379909, "ang_err_cycle_deg": 0.7332526758623501, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "ccfb605a_seg0", "clip": "ccfb605a-05d4-50a8-897e-7203fe9b0a62", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 51, "instruction": "Go to the fire hydrant by the road.", "destination": "fire hydrant", "start_xy": [204, 718], "ang_err_namer_deg": 8.773821246907756, "ang_err_cycle_deg": 8.773821246907756, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "ccfb605a_seg1", "clip": "ccfb605a-05d4-50a8-897e-7203fe9b0a62", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 53, "t_end": 74, "instruction": "Go to the area overlooking the lake.", "destination": "the area overlooking the lake", "start_xy": [776, 648], "ang_err_namer_deg": 10.998011335379909, "ang_err_cycle_deg": 0.7332526758623501, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "ccfb605a_seg0", "clip": "ccfb605a-05d4-50a8-897e-7203fe9b0a62", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cd/cd782ba4-fba1-5b67-be83-9b43f3252509.json b/labels/outdoor/cd/cd782ba4-fba1-5b67-be83-9b43f3252509.json
index 53472bfd55e92ccb09b00ffce8c4d65996d1dbcf..79eb5416e6257b19bd28fc914e3e19f084abe5c5 100644
--- a/labels/outdoor/cd/cd782ba4-fba1-5b67-be83-9b43f3252509.json
+++ b/labels/outdoor/cd/cd782ba4-fba1-5b67-be83-9b43f3252509.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the silver van.", "destination": "the silver van", "start_xy": [485, 665], "ang_err_namer_deg": 0.5955832560913333, "ang_err_cycle_deg": 0.6591363817955944, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "cd782ba4_seg0", "clip": "cd782ba4-fba1-5b67-be83-9b43f3252509", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 10, "instruction": "Go to the vehicle on the road.", "destination": "the vehicle on the road", "start_xy": [465, 677], "ang_err_namer_deg": 0.7494460272563956, "ang_err_cycle_deg": 0.6859671196658559, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "cd782ba4_seg1", "clip": "cd782ba4-fba1-5b67-be83-9b43f3252509", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the silver van.", "destination": "the silver van", "start_xy": [485, 665], "ang_err_namer_deg": 0.5955832560913333, "ang_err_cycle_deg": 0.6591363817955944, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "cd782ba4_seg0", "clip": "cd782ba4-fba1-5b67-be83-9b43f3252509", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cd/cd8b6a90-1d33-5901-a9f1-8fc75ed7aded.json b/labels/outdoor/cd/cd8b6a90-1d33-5901-a9f1-8fc75ed7aded.json
index c8242dd3276ad055092eb47afb3dad0ce2e0df22..b71f422c33b61471fdad842ef918a782bfde7e97 100644
--- a/labels/outdoor/cd/cd8b6a90-1d33-5901-a9f1-8fc75ed7aded.json
+++ b/labels/outdoor/cd/cd8b6a90-1d33-5901-a9f1-8fc75ed7aded.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the area by the construction fence.", "destination": "the area by the construction fence", "start_xy": [303, 745], "ang_err_namer_deg": 11.465937871121557, "ang_err_cycle_deg": 21.712364771692872, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "cd8b6a90_seg0", "clip": "cd8b6a90-1d33-5901-a9f1-8fc75ed7aded", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area by the building with green construction scaffolding.", "destination": "the building with green construction scaffolding", "start_xy": [300, 500], "ang_err_namer_deg": 10.206413689304616, "ang_err_cycle_deg": 7.193685057462657, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "cd8b6a90_seg1", "clip": "cd8b6a90-1d33-5901-a9f1-8fc75ed7aded", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area by the building with green construction scaffolding.", "destination": "the building with green construction scaffolding", "start_xy": [300, 500], "ang_err_namer_deg": 10.206413689304616, "ang_err_cycle_deg": 7.193685057462657, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "cd8b6a90_seg1", "clip": "cd8b6a90-1d33-5901-a9f1-8fc75ed7aded", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cd/cdb11cfd-24d3-5da8-a2e2-e3e6ba248607.json b/labels/outdoor/cd/cdb11cfd-24d3-5da8-a2e2-e3e6ba248607.json
index a885266e9bea8a69d58f9a43fb4d49236c4f196a..5465a9da3dc0a67c97cf87ffa1ce2891d76a5c5e 100644
--- a/labels/outdoor/cd/cdb11cfd-24d3-5da8-a2e2-e3e6ba248607.json
+++ b/labels/outdoor/cd/cdb11cfd-24d3-5da8-a2e2-e3e6ba248607.json
@@ -1 +1 @@
-[{"t0": 50, "t_end": 81, "instruction": "Go to the metal guardrail along the road.", "destination": "metal guardrail", "start_xy": [986, 559], "ang_err_namer_deg": 7.089310442737663, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "cdb11cfd_seg0", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 48, "instruction": "Go to the area by the orange reflective marker on the right.", "destination": "the area by the orange reflective marker", "start_xy": [841, 662], "ang_err_namer_deg": 3.9019843179653413, "ang_err_cycle_deg": 4.245502373308169, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "cdb11cfd_seg1", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 36, "instruction": "Go to the orange delineator pole on the right side of the road.", "destination": "the orange delineator pole", "start_xy": [845, 668], "ang_err_namer_deg": 3.746534952175084, "ang_err_cycle_deg": 3.746534952175084, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "cdb11cfd_seg2", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 15, "instruction": "Go to the area by the red delineator post on the right.", "destination": "the red delineator post on the right", "start_xy": [707, 686], "ang_err_namer_deg": 4.24218599512091, "ang_err_cycle_deg": 4.24218599512091, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "cdb11cfd_seg3", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 48, "instruction": "Go to the area by the orange reflective marker on the right.", "destination": "the area by the orange reflective marker", "start_xy": [841, 662], "ang_err_namer_deg": 3.9019843179653413, "ang_err_cycle_deg": 4.245502373308169, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "cdb11cfd_seg1", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 36, "instruction": "Go to the orange delineator pole on the right side of the road.", "destination": "the orange delineator pole", "start_xy": [845, 668], "ang_err_namer_deg": 3.746534952175084, "ang_err_cycle_deg": 3.746534952175084, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "cdb11cfd_seg2", "clip": "cdb11cfd-24d3-5da8-a2e2-e3e6ba248607", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ce/ceffab0f-95a4-5440-ab69-1aab22ab4b35.json b/labels/outdoor/ce/ceffab0f-95a4-5440-ab69-1aab22ab4b35.json
index 72e93add85b103a328746a90339692060edc08a5..f8bcea515aec8b884a76c758fb5f7fb962f79df2 100644
--- a/labels/outdoor/ce/ceffab0f-95a4-5440-ab69-1aab22ab4b35.json
+++ b/labels/outdoor/ce/ceffab0f-95a4-5440-ab69-1aab22ab4b35.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the yellow trackside sign.", "destination": "yellow trackside sign", "start_xy": [483, 489], "ang_err_namer_deg": 13.323923031229164, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ceffab0f_seg0", "clip": "ceffab0f-95a4-5440-ab69-1aab22ab4b35", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the area along the train tracks.", "destination": "the train tracks", "start_xy": [482, 622], "ang_err_namer_deg": 12.76956901430588, "ang_err_cycle_deg": 10.402775513601226, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ceffab0f_seg1", "clip": "ceffab0f-95a4-5440-ab69-1aab22ab4b35", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the stone passage.", "destination": "the stone passage", "start_xy": [482, 508], "ang_err_namer_deg": 9.105433477431804, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "ceffab0f_seg2", "clip": "ceffab0f-95a4-5440-ab69-1aab22ab4b35", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 55, "instruction": "Go to the area along the train tracks.", "destination": "the train tracks", "start_xy": [482, 622], "ang_err_namer_deg": 12.76956901430588, "ang_err_cycle_deg": 10.402775513601226, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ceffab0f_seg1", "clip": "ceffab0f-95a4-5440-ab69-1aab22ab4b35", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cf/cf5f9b4e-a280-55ec-b275-e090ddb19dc1.json b/labels/outdoor/cf/cf5f9b4e-a280-55ec-b275-e090ddb19dc1.json
index f10e8c90127e9c2777a0443f33b5efc844e4dbb5..c3fa9d7aededf384fe2fdff809262ede280c4b61 100644
--- a/labels/outdoor/cf/cf5f9b4e-a280-55ec-b275-e090ddb19dc1.json
+++ b/labels/outdoor/cf/cf5f9b4e-a280-55ec-b275-e090ddb19dc1.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the house.", "destination": "the house", "start_xy": [482, 558], "ang_err_namer_deg": 4.699198573822728, "ang_err_cycle_deg": 5.4003060202269975, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "cf5f9b4e_seg0", "clip": "cf5f9b4e-a280-55ec-b275-e090ddb19dc1", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area by the building with the white facade and dark brown window shutters.", "destination": "the building with the white facade and dark brown window shutters", "start_xy": [609, 558], "ang_err_namer_deg": 9.818690382222503, "ang_err_cycle_deg": 9.371781846528863, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "cf5f9b4e_seg1", "clip": "cf5f9b4e-a280-55ec-b275-e090ddb19dc1", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the intersection with the side road.", "destination": "the intersection with the side road", "start_xy": [485, 488], "ang_err_namer_deg": 1.442770418428738, "ang_err_cycle_deg": 1.6767143176945725, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cf5f9b4e_seg2", "clip": "cf5f9b4e-a280-55ec-b275-e090ddb19dc1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the intersection with the side road.", "destination": "the intersection with the side road", "start_xy": [485, 488], "ang_err_namer_deg": 1.442770418428738, "ang_err_cycle_deg": 1.6767143176945725, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cf5f9b4e_seg2", "clip": "cf5f9b4e-a280-55ec-b275-e090ddb19dc1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cf/cfa96220-1e00-5eee-817d-6f6258d74d19.json b/labels/outdoor/cf/cfa96220-1e00-5eee-817d-6f6258d74d19.json
index 321d74f9d8d75cb6c028924b2b495bbf115588b7..62e8561931940f92d35e95e015f3a5408b09724b 100644
--- a/labels/outdoor/cf/cfa96220-1e00-5eee-817d-6f6258d74d19.json
+++ b/labels/outdoor/cf/cfa96220-1e00-5eee-817d-6f6258d74d19.json
@@ -1 +1 @@
-[{"t0": 64, "t_end": 74, "instruction": "Go to the light pole on the side of the road.", "destination": "light pole", "start_xy": [239, 551], "ang_err_namer_deg": 6.65698418088166, "ang_err_cycle_deg": 6.7251773001371316, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cfa96220_seg0", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}, {"t0": 30, "t_end": 62, "instruction": "Go to the area by the stone wall.", "destination": "the stone wall", "start_xy": [395, 794], "ang_err_namer_deg": 6.97540947478854, "ang_err_cycle_deg": 27.942777071207942, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "cfa96220_seg1", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 28, "instruction": "Go to the road curve.", "destination": "the road curve", "start_xy": [765, 745], "ang_err_namer_deg": 1.475113243117836, "ang_err_cycle_deg": 4.998189057100916, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cfa96220_seg2", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the convex traffic mirror on the side of the road.", "destination": "convex traffic mirror", "start_xy": [834, 715], "ang_err_namer_deg": 2.789174465080646, "ang_err_cycle_deg": 2.789174465080646, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "cfa96220_seg3", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 64, "t_end": 74, "instruction": "Go to the light pole on the side of the road.", "destination": "light pole", "start_xy": [239, 551], "ang_err_namer_deg": 6.65698418088166, "ang_err_cycle_deg": 6.7251773001371316, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cfa96220_seg0", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}, {"t0": 18, "t_end": 28, "instruction": "Go to the road curve.", "destination": "the road curve", "start_xy": [765, 745], "ang_err_namer_deg": 1.475113243117836, "ang_err_cycle_deg": 4.998189057100916, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "cfa96220_seg2", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 16, "instruction": "Go to the convex traffic mirror on the side of the road.", "destination": "convex traffic mirror", "start_xy": [834, 715], "ang_err_namer_deg": 2.789174465080646, "ang_err_cycle_deg": 2.789174465080646, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "cfa96220_seg3", "clip": "cfa96220-1e00-5eee-817d-6f6258d74d19", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/cf/cfb53961-6fcf-598f-b9c0-b04a63abfb55.json b/labels/outdoor/cf/cfb53961-6fcf-598f-b9c0-b04a63abfb55.json
index c7befd31e1e5e2f731ad1d8eec966300e57f45aa..c5dd759943493be529927dd155cd244ca75cc40c 100644
--- a/labels/outdoor/cf/cfb53961-6fcf-598f-b9c0-b04a63abfb55.json
+++ b/labels/outdoor/cf/cfb53961-6fcf-598f-b9c0-b04a63abfb55.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 61, "instruction": "Go to the concrete wall along the curve of the road.", "destination": "the concrete wall", "start_xy": [585, 558], "ang_err_namer_deg": 12.947266696837218, "ang_err_cycle_deg": 17.737303638383565, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "cfb53961_seg0", "clip": "cfb53961-6fcf-598f-b9c0-b04a63abfb55", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the area by the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [583, 557], "ang_err_namer_deg": 7.680007223986513, "ang_err_cycle_deg": 12.579935579889163, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "cfb53961_seg1", "clip": "cfb53961-6fcf-598f-b9c0-b04a63abfb55", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the concrete barrier on the right side of the road.", "destination": "the concrete barrier on the right side of the road", "start_xy": [569, 622], "ang_err_namer_deg": 6.49730968176936, "ang_err_cycle_deg": 19.193612504330094, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "cfb53961_seg2", "clip": "cfb53961-6fcf-598f-b9c0-b04a63abfb55", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 14, "t_end": 24, "instruction": "Go to the area by the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [583, 557], "ang_err_namer_deg": 7.680007223986513, "ang_err_cycle_deg": 12.579935579889163, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "cfb53961_seg1", "clip": "cfb53961-6fcf-598f-b9c0-b04a63abfb55", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d0/d044b317-5495-586e-80d8-53a807c4ec08.json b/labels/outdoor/d0/d044b317-5495-586e-80d8-53a807c4ec08.json
index 8136bfc8019c99a90b91b4891b69fb800cfddcb8..aff77c4595bd7dc2a4898c1fc61b9096cf598b9e 100644
--- a/labels/outdoor/d0/d044b317-5495-586e-80d8-53a807c4ec08.json
+++ b/labels/outdoor/d0/d044b317-5495-586e-80d8-53a807c4ec08.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the small utility shed by the tracks.", "destination": "the small utility shed", "start_xy": [454, 506], "ang_err_namer_deg": 4.361839402032266, "ang_err_cycle_deg": 4.361839402032266, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d044b317_seg0", "clip": "d044b317-5495-586e-80d8-53a807c4ec08", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the brown wooden building by the parking area.", "destination": "the brown wooden building", "start_xy": [412, 458], "ang_err_namer_deg": 11.156876173024735, "ang_err_cycle_deg": 6.93577391627734, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d044b317_seg1", "clip": "d044b317-5495-586e-80d8-53a807c4ec08", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the white apartment buildings.", "destination": "the white apartment buildings", "start_xy": [465, 427], "ang_err_namer_deg": 5.558141230536506, "ang_err_cycle_deg": 7.425131037367096, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "d044b317_seg2", "clip": "d044b317-5495-586e-80d8-53a807c4ec08", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 52, "t_end": 71, "instruction": "Go to the small utility shed by the tracks.", "destination": "the small utility shed", "start_xy": [454, 506], "ang_err_namer_deg": 4.361839402032266, "ang_err_cycle_deg": 4.361839402032266, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d044b317_seg0", "clip": "d044b317-5495-586e-80d8-53a807c4ec08", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the brown wooden building by the parking area.", "destination": "the brown wooden building", "start_xy": [412, 458], "ang_err_namer_deg": 11.156876173024735, "ang_err_cycle_deg": 6.93577391627734, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d044b317_seg1", "clip": "d044b317-5495-586e-80d8-53a807c4ec08", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d0/d0dc8023-8ed1-502f-b27e-83a1675e3acf.json b/labels/outdoor/d0/d0dc8023-8ed1-502f-b27e-83a1675e3acf.json
index 80e2c9a1b7fe27ef2ef8b4e18050ee4b0474564c..c4de6d21f67774f5404f14c5457c82e52de0bc36 100644
--- a/labels/outdoor/d0/d0dc8023-8ed1-502f-b27e-83a1675e3acf.json
+++ b/labels/outdoor/d0/d0dc8023-8ed1-502f-b27e-83a1675e3acf.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the turnout by the side of the road.", "destination": "turnout by the side of the road", "start_xy": [765, 648], "ang_err_namer_deg": 6.940068301909101, "ang_err_cycle_deg": 10.69290750341086, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "d0dc8023_seg0", "clip": "d0dc8023-8ed1-502f-b27e-83a1675e3acf", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [609, 622], "ang_err_namer_deg": 1.4235203511238486, "ang_err_cycle_deg": 1.4235203511238486, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d0dc8023_seg1", "clip": "d0dc8023-8ed1-502f-b27e-83a1675e3acf", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 34, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [609, 622], "ang_err_namer_deg": 1.4235203511238486, "ang_err_cycle_deg": 1.4235203511238486, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d0dc8023_seg1", "clip": "d0dc8023-8ed1-502f-b27e-83a1675e3acf", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d1/d13a27be-6149-5942-b93d-318eb5f20053.json b/labels/outdoor/d1/d13a27be-6149-5942-b93d-318eb5f20053.json
index bf660d88660cde1b8596e6d9aeb973258ea8ecb2..18c3f50053344f6e7f2bf3db3e104b91efaf4a78 100644
--- a/labels/outdoor/d1/d13a27be-6149-5942-b93d-318eb5f20053.json
+++ b/labels/outdoor/d1/d13a27be-6149-5942-b93d-318eb5f20053.json
@@ -1 +1 @@
-[{"t0": 36, "t_end": 71, "instruction": "Go to the area with large rocks on the right side of the road.", "destination": "the large rocks on the right", "start_xy": [920, 750], "ang_err_namer_deg": 8.462744541687924, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "d13a27be_seg0", "clip": "d13a27be-6149-5942-b93d-318eb5f20053", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [420, 570], "ang_err_namer_deg": 3.776561912075418, "ang_err_cycle_deg": 0.7719011922205234, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d13a27be_seg1", "clip": "d13a27be-6149-5942-b93d-318eb5f20053", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 34, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [420, 570], "ang_err_namer_deg": 3.776561912075418, "ang_err_cycle_deg": 0.7719011922205234, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d13a27be_seg1", "clip": "d13a27be-6149-5942-b93d-318eb5f20053", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d2/d24f778f-9e20-54ef-a5bb-a07b69d17455.json b/labels/outdoor/d2/d24f778f-9e20-54ef-a5bb-a07b69d17455.json
index 43b2f4396b6b782a017b146c4fb9f46ce680cfe7..8d5cec333d00fdc842f41da151b6b7bf997237ad 100644
--- a/labels/outdoor/d2/d24f778f-9e20-54ef-a5bb-a07b69d17455.json
+++ b/labels/outdoor/d2/d24f778f-9e20-54ef-a5bb-a07b69d17455.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the crosswalk.", "destination": "the crosswalk", "start_xy": [482, 709], "ang_err_namer_deg": 7.73796309902181, "ang_err_cycle_deg": 27.9787480815938, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "d24f778f_seg0", "clip": "d24f778f-9e20-54ef-a5bb-a07b69d17455", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the roundabout.", "destination": "the roundabout", "start_xy": [483, 643], "ang_err_namer_deg": 7.3632530445702375, "ang_err_cycle_deg": 7.472489205056984, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "d24f778f_seg1", "clip": "d24f778f-9e20-54ef-a5bb-a07b69d17455", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the roundabout.", "destination": "the roundabout", "start_xy": [483, 643], "ang_err_namer_deg": 7.3632530445702375, "ang_err_cycle_deg": 7.472489205056984, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "d24f778f_seg1", "clip": "d24f778f-9e20-54ef-a5bb-a07b69d17455", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d2/d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d.json b/labels/outdoor/d2/d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d.json
index 64a7b41e1382357a5ba6989de583925d2b11a2e6..8c5802e64e2f9126bf609471aad0ef6520ec3db1 100644
--- a/labels/outdoor/d2/d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d.json
+++ b/labels/outdoor/d2/d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area by the yellow house.", "destination": "the yellow house", "start_xy": [418, 506], "ang_err_namer_deg": 7.128182712436895, "ang_err_cycle_deg": 7.340135319134367, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "d2f6c2a9_seg0", "clip": "d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area by the lamp post on the right side of the road.", "destination": "the area by the lamp post on the right side of the road", "start_xy": [569, 517], "ang_err_namer_deg": 7.381321838558276, "ang_err_cycle_deg": 7.594514401355049, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "d2f6c2a9_seg1", "clip": "d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the parking lot entrance building.", "destination": "the parking lot entrance building", "start_xy": [673, 625], "ang_err_namer_deg": 7.283635195617524, "ang_err_cycle_deg": 7.283635195617524, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "d2f6c2a9_seg2", "clip": "d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the area by the lamp post on the right side of the road.", "destination": "the area by the lamp post on the right side of the road", "start_xy": [569, 517], "ang_err_namer_deg": 7.381321838558276, "ang_err_cycle_deg": 7.594514401355049, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "d2f6c2a9_seg1", "clip": "d2f6c2a9-0981-5f2e-bfc1-5c3dbf4f541d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d3/d3151441-a39d-59ab-bf5e-8c34317cafc9.json b/labels/outdoor/d3/d3151441-a39d-59ab-bf5e-8c34317cafc9.json
index a939f49e7419ffcbde9d627bfcc105425e9041dd..897c2375a624e928590beb1e04ee25987162f1c2 100644
--- a/labels/outdoor/d3/d3151441-a39d-59ab-bf5e-8c34317cafc9.json
+++ b/labels/outdoor/d3/d3151441-a39d-59ab-bf5e-8c34317cafc9.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the 50 km/h speed limit sign.", "destination": "50 km/h speed limit sign", "start_xy": [365, 381], "ang_err_namer_deg": 11.34305834217333, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "d3151441_seg0", "clip": "d3151441-a39d-59ab-bf5e-8c34317cafc9", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 34, "instruction": "Go to the area by the church and the building on the right.", "destination": "the area by the church and the building on the right", "start_xy": [372, 425], "ang_err_namer_deg": 13.656135737646846, "ang_err_cycle_deg": 13.731130359056811, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d3151441_seg1", "clip": "d3151441-a39d-59ab-bf5e-8c34317cafc9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 34, "instruction": "Go to the area by the church and the building on the right.", "destination": "the area by the church and the building on the right", "start_xy": [372, 425], "ang_err_namer_deg": 13.656135737646846, "ang_err_cycle_deg": 13.731130359056811, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016367559602, "tier": "L", "id": "d3151441_seg1", "clip": "d3151441-a39d-59ab-bf5e-8c34317cafc9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d3/d32eb56b-f840-5f90-854e-d28ae831a222.json b/labels/outdoor/d3/d32eb56b-f840-5f90-854e-d28ae831a222.json
index d29f35589e3213c8e2702cb2351e8170be6f457f..c2b9a2a9d09f10a3ac57e86b0dbcae895854664d 100644
--- a/labels/outdoor/d3/d32eb56b-f840-5f90-854e-d28ae831a222.json
+++ b/labels/outdoor/d3/d32eb56b-f840-5f90-854e-d28ae831a222.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [451, 508], "ang_err_namer_deg": 0.4912386207103803, "ang_err_cycle_deg": 1.241033222028134, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "d32eb56b_seg0", "clip": "d32eb56b-f840-5f90-854e-d28ae831a222", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the yellow track sign.", "destination": "the yellow track sign", "start_xy": [395, 648], "ang_err_namer_deg": 11.108054340433645, "ang_err_cycle_deg": 4.454153340829056, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d32eb56b_seg1", "clip": "d32eb56b-f840-5f90-854e-d28ae831a222", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the yellow track sign.", "destination": "the yellow track sign", "start_xy": [395, 648], "ang_err_namer_deg": 11.108054340433645, "ang_err_cycle_deg": 4.454153340829056, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d32eb56b_seg1", "clip": "d32eb56b-f840-5f90-854e-d28ae831a222", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d3/d3c8de8d-f790-5e1e-a0a9-641995696be9.json b/labels/outdoor/d3/d3c8de8d-f790-5e1e-a0a9-641995696be9.json
index fe73bd9de6b9440ea7d74f9340f3afb53195410a..f5171a1b813e6067d81b0cd07e3096166051f923 100644
--- a/labels/outdoor/d3/d3c8de8d-f790-5e1e-a0a9-641995696be9.json
+++ b/labels/outdoor/d3/d3c8de8d-f790-5e1e-a0a9-641995696be9.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area by the wooden house.", "destination": "the wooden house", "start_xy": [472, 508], "ang_err_namer_deg": 13.00883201784249, "ang_err_cycle_deg": 14.309509952463982, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "d3c8de8d_seg0", "clip": "d3c8de8d-f790-5e1e-a0a9-641995696be9", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 38, "instruction": "Go to the parking area by the wooden house.", "destination": "the parking area by the wooden house", "start_xy": [372, 489], "ang_err_namer_deg": 5.632163781258717, "ang_err_cycle_deg": 4.857598515174689, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "d3c8de8d_seg1", "clip": "d3c8de8d-f790-5e1e-a0a9-641995696be9", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 38, "instruction": "Go to the parking area by the wooden house.", "destination": "the parking area by the wooden house", "start_xy": [372, 489], "ang_err_namer_deg": 5.632163781258717, "ang_err_cycle_deg": 4.857598515174689, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "d3c8de8d_seg1", "clip": "d3c8de8d-f790-5e1e-a0a9-641995696be9", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d4/d4d00f39-503c-57c3-a2ab-1b4c6963b6d6.json b/labels/outdoor/d4/d4d00f39-503c-57c3-a2ab-1b4c6963b6d6.json
index 6d602ddf8be08546763189c9124918260aa9c66a..331e41318f501086b7f02b02124d5b3bce13d72a 100644
--- a/labels/outdoor/d4/d4d00f39-503c-57c3-a2ab-1b4c6963b6d6.json
+++ b/labels/outdoor/d4/d4d00f39-503c-57c3-a2ab-1b4c6963b6d6.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the yellow sign on the right side of the road.", "destination": "the yellow sign", "start_xy": [532, 528], "ang_err_namer_deg": 12.165894469392143, "ang_err_cycle_deg": 12.165894469392143, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "d4d00f39_seg0", "clip": "d4d00f39-503c-57c3-a2ab-1b4c6963b6d6", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 38, "instruction": "Go to the utility pole on the side of the road.", "destination": "utility pole", "start_xy": [485, 487], "ang_err_namer_deg": 4.164046902063515, "ang_err_cycle_deg": 4.164046902063515, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "d4d00f39_seg1", "clip": "d4d00f39-503c-57c3-a2ab-1b4c6963b6d6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 38, "instruction": "Go to the utility pole on the side of the road.", "destination": "utility pole", "start_xy": [485, 487], "ang_err_namer_deg": 4.164046902063515, "ang_err_cycle_deg": 4.164046902063515, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "d4d00f39_seg1", "clip": "d4d00f39-503c-57c3-a2ab-1b4c6963b6d6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d5/d570cd30-a817-5bda-913a-79dd095fc869.json b/labels/outdoor/d5/d570cd30-a817-5bda-913a-79dd095fc869.json
index a23997add3cc341af07c3b04de5d5405507fbe40..8ca73a832540d281397635aba755a779c0b11c7a 100644
--- a/labels/outdoor/d5/d570cd30-a817-5bda-913a-79dd095fc869.json
+++ b/labels/outdoor/d5/d570cd30-a817-5bda-913a-79dd095fc869.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the tracks.", "destination": "the utility pole near the tracks", "start_xy": [560, 320], "ang_err_namer_deg": 9.350683717239175, "ang_err_cycle_deg": 8.90811174182491, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d570cd30_seg0", "clip": "d570cd30-a817-5bda-913a-79dd095fc869", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [483, 328], "ang_err_namer_deg": 11.004736996185569, "ang_err_cycle_deg": 11.116881812955377, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d570cd30_seg1", "clip": "d570cd30-a817-5bda-913a-79dd095fc869", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area by the bicycle rider.", "destination": "the area by the bicycle rider", "start_xy": [560, 520], "ang_err_namer_deg": 12.89177675360316, "ang_err_cycle_deg": 13.886354369688894, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "d570cd30_seg2", "clip": "d570cd30-a817-5bda-913a-79dd095fc869", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the utility pole near the tracks.", "destination": "the utility pole near the tracks", "start_xy": [560, 320], "ang_err_namer_deg": 9.350683717239175, "ang_err_cycle_deg": 8.90811174182491, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d570cd30_seg0", "clip": "d570cd30-a817-5bda-913a-79dd095fc869", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [483, 328], "ang_err_namer_deg": 11.004736996185569, "ang_err_cycle_deg": 11.116881812955377, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d570cd30_seg1", "clip": "d570cd30-a817-5bda-913a-79dd095fc869", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d7/d7ccfbdd-1d03-5587-b7cf-9e547d996df3.json b/labels/outdoor/d7/d7ccfbdd-1d03-5587-b7cf-9e547d996df3.json
index 66721095bfdc1b65d087e34f9000d0f73d79d944..95cddc73f449c7f624d1380415748f27419fdfb9 100644
--- a/labels/outdoor/d7/d7ccfbdd-1d03-5587-b7cf-9e547d996df3.json
+++ b/labels/outdoor/d7/d7ccfbdd-1d03-5587-b7cf-9e547d996df3.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 74, "instruction": "Go to the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [242, 664], "ang_err_namer_deg": 9.782518293357107, "ang_err_cycle_deg": 9.314284410494155, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "d7ccfbdd_seg0", "clip": "d7ccfbdd-1d03-5587-b7cf-9e547d996df3", "source": "spatialvid_v3"}, {"t0": 14, "t_end": 24, "instruction": "Go to the end of the bridge guardrail.", "destination": "the end of the bridge guardrail", "start_xy": [737, 709], "ang_err_namer_deg": 4.044330511260537, "ang_err_cycle_deg": 0.4137286415067777, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "d7ccfbdd_seg1", "clip": "d7ccfbdd-1d03-5587-b7cf-9e547d996df3", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 12, "instruction": "Go to the end of the concrete road barrier.", "destination": "the end of the concrete road barrier", "start_xy": [482, 725], "ang_err_namer_deg": 2.4740467812212086, "ang_err_cycle_deg": 5.337074130939841, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "d7ccfbdd_seg2", "clip": "d7ccfbdd-1d03-5587-b7cf-9e547d996df3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 12, "instruction": "Go to the end of the concrete road barrier.", "destination": "the end of the concrete road barrier", "start_xy": [482, 725], "ang_err_namer_deg": 2.4740467812212086, "ang_err_cycle_deg": 5.337074130939841, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "d7ccfbdd_seg2", "clip": "d7ccfbdd-1d03-5587-b7cf-9e547d996df3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d8/d8eb67e0-e9ae-597f-888e-e8760a151485.json b/labels/outdoor/d8/d8eb67e0-e9ae-597f-888e-e8760a151485.json
index 280e2bcbf3cd11eed9e0f404a27bad80f732e12d..7d089b37bd68f2e45d4f9e5172aef264d04457ba 100644
--- a/labels/outdoor/d8/d8eb67e0-e9ae-597f-888e-e8760a151485.json
+++ b/labels/outdoor/d8/d8eb67e0-e9ae-597f-888e-e8760a151485.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall along the road", "start_xy": [485, 788], "ang_err_namer_deg": 11.94733960936683, "ang_err_cycle_deg": 4.800121064467344, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "d8eb67e0_seg0", "clip": "d8eb67e0-e9ae-597f-888e-e8760a151485", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the area with the rockslide on the left.", "destination": "the area with the rockslide on the left", "start_xy": [485, 579], "ang_err_namer_deg": 2.7986633561939174, "ang_err_cycle_deg": 2.7986633561939174, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "d8eb67e0_seg1", "clip": "d8eb67e0-e9ae-597f-888e-e8760a151485", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [465, 597], "ang_err_namer_deg": 3.250619644967254, "ang_err_cycle_deg": 3.32672970476572, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "d8eb67e0_seg2", "clip": "d8eb67e0-e9ae-597f-888e-e8760a151485", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 47, "t_end": 64, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall along the road", "start_xy": [485, 788], "ang_err_namer_deg": 11.94733960936683, "ang_err_cycle_deg": 4.800121064467344, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "d8eb67e0_seg0", "clip": "d8eb67e0-e9ae-597f-888e-e8760a151485", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the blue road sign.", "destination": "the blue road sign", "start_xy": [465, 597], "ang_err_namer_deg": 3.250619644967254, "ang_err_cycle_deg": 3.32672970476572, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "d8eb67e0_seg2", "clip": "d8eb67e0-e9ae-597f-888e-e8760a151485", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d8/d8f8d232-7128-5fb0-a167-c94e255b41a1.json b/labels/outdoor/d8/d8f8d232-7128-5fb0-a167-c94e255b41a1.json
index c2f4e7a23d92da716e902237cca955010101fa11..584f6e233f88b5d53a8a9b0e9b29b2dc2085bc39 100644
--- a/labels/outdoor/d8/d8f8d232-7128-5fb0-a167-c94e255b41a1.json
+++ b/labels/outdoor/d8/d8f8d232-7128-5fb0-a167-c94e255b41a1.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the building at the end of the road.", "destination": "the building at the end of the road", "start_xy": [465, 662], "ang_err_namer_deg": 3.264120061982969, "ang_err_cycle_deg": 3.582127869253547, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "d8f8d232_seg0", "clip": "d8f8d232-7128-5fb0-a167-c94e255b41a1", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 40, "instruction": "Go to the gas station with the SAAB and Citroen signs.", "destination": "the gas station with the SAAB and Citroen signs", "start_xy": [497, 612], "ang_err_namer_deg": 3.1826228180510268, "ang_err_cycle_deg": 3.2891112037641004, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d8f8d232_seg1", "clip": "d8f8d232-7128-5fb0-a167-c94e255b41a1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 5, "t_end": 40, "instruction": "Go to the gas station with the SAAB and Citroen signs.", "destination": "the gas station with the SAAB and Citroen signs", "start_xy": [497, 612], "ang_err_namer_deg": 3.1826228180510268, "ang_err_cycle_deg": 3.2891112037641004, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d8f8d232_seg1", "clip": "d8f8d232-7128-5fb0-a167-c94e255b41a1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d9/d97b1c03-310b-5ee3-9321-34d9f751076b.json b/labels/outdoor/d9/d97b1c03-310b-5ee3-9321-34d9f751076b.json
index 49f8067e28a4c072068edd944d5e5cb2477c9914..ce2b0621addd825f7a1f576ab3b34e71bffe101a 100644
--- a/labels/outdoor/d9/d97b1c03-310b-5ee3-9321-34d9f751076b.json
+++ b/labels/outdoor/d9/d97b1c03-310b-5ee3-9321-34d9f751076b.json
@@ -1 +1 @@
-[{"t0": 41, "t_end": 60, "instruction": "Go to the white car parked on the right side of the street.", "destination": "the white car parked on the right side of the street", "start_xy": [605, 645], "ang_err_namer_deg": 7.018922860233662, "ang_err_cycle_deg": 6.7531756054386936, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d97b1c03_seg0", "clip": "d97b1c03-310b-5ee3-9321-34d9f751076b", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the pedestrian crossing near the construction area.", "destination": "the pedestrian crossing", "start_xy": [510, 686], "ang_err_namer_deg": 3.1318150759920687, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "d97b1c03_seg1", "clip": "d97b1c03-310b-5ee3-9321-34d9f751076b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 41, "t_end": 60, "instruction": "Go to the white car parked on the right side of the street.", "destination": "the white car parked on the right side of the street", "start_xy": [605, 645], "ang_err_namer_deg": 7.018922860233662, "ang_err_cycle_deg": 6.7531756054386936, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "d97b1c03_seg0", "clip": "d97b1c03-310b-5ee3-9321-34d9f751076b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/d9/d9cc55d8-2042-56bd-8d57-5b8e20f69029.json b/labels/outdoor/d9/d9cc55d8-2042-56bd-8d57-5b8e20f69029.json
index 75fa7321d325922d1ee5de584ba55e3bf86f07da..a95dd910b0090ba028aef3da2e02a85a76482aea 100644
--- a/labels/outdoor/d9/d9cc55d8-2042-56bd-8d57-5b8e20f69029.json
+++ b/labels/outdoor/d9/d9cc55d8-2042-56bd-8d57-5b8e20f69029.json
@@ -1 +1 @@
-[{"t0": 54, "t_end": 81, "instruction": "Go to the stone bridge.", "destination": "the stone bridge", "start_xy": [450, 680], "ang_err_namer_deg": 12.35465342358807, "ang_err_cycle_deg": 0.8128526324166034, "confidence": "A", "arrival_ok": true, "duration_s": 4.954949739487396, "tier": "M", "id": "d9cc55d8_seg0", "clip": "d9cc55d8-2042-56bd-8d57-5b8e20f69029", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 52, "instruction": "Go to the green road sign on the cliffside.", "destination": "the green road sign", "start_xy": [587, 512], "ang_err_namer_deg": 5.580377802830384, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "d9cc55d8_seg1", "clip": "d9cc55d8-2042-56bd-8d57-5b8e20f69029", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 15, "instruction": "Go to the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [450, 500], "ang_err_namer_deg": 5.184210451511813, "ang_err_cycle_deg": 1.6563385684883905, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692331982527237, "tier": "S", "id": "d9cc55d8_seg2", "clip": "d9cc55d8-2042-56bd-8d57-5b8e20f69029", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 54, "t_end": 81, "instruction": "Go to the stone bridge.", "destination": "the stone bridge", "start_xy": [450, 680], "ang_err_namer_deg": 12.35465342358807, "ang_err_cycle_deg": 0.8128526324166034, "confidence": "A", "arrival_ok": true, "duration_s": 4.954949739487396, "tier": "M", "id": "d9cc55d8_seg0", "clip": "d9cc55d8-2042-56bd-8d57-5b8e20f69029", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/db/dbdb0668-ecf9-57f0-94fb-94f10fe9360b.json b/labels/outdoor/db/dbdb0668-ecf9-57f0-94fb-94f10fe9360b.json
index 5e8afa87adbe33589d504ee3a5e6f09eee5b75da..00b42235a1e114fc90a195a3a35eddd645ec5618 100644
--- a/labels/outdoor/db/dbdb0668-ecf9-57f0-94fb-94f10fe9360b.json
+++ b/labels/outdoor/db/dbdb0668-ecf9-57f0-94fb-94f10fe9360b.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the tree on the cliff.", "destination": "the tree on the cliff", "start_xy": [196, 425], "ang_err_namer_deg": 8.335548904951064, "ang_err_cycle_deg": 9.676866548486256, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "dbdb0668_seg0", "clip": "dbdb0668-ecf9-57f0-94fb-94f10fe9360b", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area where the road curves alongside the cliffside.", "destination": "the area where the road curves alongside the cliffside", "start_xy": [485, 666], "ang_err_namer_deg": 4.405603880510582, "ang_err_cycle_deg": 12.97815722600499, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "dbdb0668_seg1", "clip": "dbdb0668-ecf9-57f0-94fb-94f10fe9360b", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the end of the road section near the rocky cliff.", "destination": "the end of the road section near the rocky cliff", "start_xy": [483, 792], "ang_err_namer_deg": 0.7690120455532712, "ang_err_cycle_deg": 0.8632234760144556, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "dbdb0668_seg2", "clip": "dbdb0668-ecf9-57f0-94fb-94f10fe9360b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the area where the road curves alongside the cliffside.", "destination": "the area where the road curves alongside the cliffside", "start_xy": [485, 666], "ang_err_namer_deg": 4.405603880510582, "ang_err_cycle_deg": 12.97815722600499, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "dbdb0668_seg1", "clip": "dbdb0668-ecf9-57f0-94fb-94f10fe9360b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/db/dbfc4a81-a22c-5ace-bdf3-e6c600d5e396.json b/labels/outdoor/db/dbfc4a81-a22c-5ace-bdf3-e6c600d5e396.json
index fc648162ba1cca398912328a1aa706b70053e4a6..bc34e12f366ada3866d57e06e37b24efdc0fe787 100644
--- a/labels/outdoor/db/dbfc4a81-a22c-5ace-bdf3-e6c600d5e396.json
+++ b/labels/outdoor/db/dbfc4a81-a22c-5ace-bdf3-e6c600d5e396.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the bus stop.", "destination": "the bus stop", "start_xy": [482, 782], "ang_err_namer_deg": 10.1821239834425, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "dbfc4a81_seg0", "clip": "dbfc4a81-a22c-5ace-bdf3-e6c600d5e396", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the crosswalk near the pink building.", "destination": "the crosswalk", "start_xy": [489, 558], "ang_err_namer_deg": 9.453762864426151, "ang_err_cycle_deg": 10.106448210940172, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "dbfc4a81_seg1", "clip": "dbfc4a81-a22c-5ace-bdf3-e6c600d5e396", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the crosswalk near the pink building.", "destination": "the crosswalk", "start_xy": [489, 558], "ang_err_namer_deg": 9.453762864426151, "ang_err_cycle_deg": 10.106448210940172, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "dbfc4a81_seg1", "clip": "dbfc4a81-a22c-5ace-bdf3-e6c600d5e396", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/dc/dc047c17-8469-5f1f-8714-b389f1cbe5df.json b/labels/outdoor/dc/dc047c17-8469-5f1f-8714-b389f1cbe5df.json
index 297a9b5467986ded890d1ee03a79dba60d3b78c0..1ed46e1d5076ccc0da6fa089b2fe54a3d1ba2c34 100644
--- a/labels/outdoor/dc/dc047c17-8469-5f1f-8714-b389f1cbe5df.json
+++ b/labels/outdoor/dc/dc047c17-8469-5f1f-8714-b389f1cbe5df.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the warning sign on the side of the road.", "destination": "the warning sign on the side of the road", "start_xy": [487, 505], "ang_err_namer_deg": 3.335285197673761, "ang_err_cycle_deg": 2.6165513582783793, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816575608175, "tier": "M", "id": "dc047c17_seg0", "clip": "dc047c17-8469-5f1f-8714-b389f1cbe5df", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the concrete wall along the road.", "destination": "the area by the concrete wall along the road", "start_xy": [750, 700], "ang_err_namer_deg": 11.417307487765555, "ang_err_cycle_deg": 12.976456227870615, "confidence": "B", "arrival_ok": false, "duration_s": 6.423083165594007, "tier": "L", "id": "dc047c17_seg1", "clip": "dc047c17-8469-5f1f-8714-b389f1cbe5df", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [466, 505], "ang_err_namer_deg": 3.3445028788496196, "ang_err_cycle_deg": 3.40977115486397, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666187411448, "tier": "S", "id": "dc047c17_seg2", "clip": "dc047c17-8469-5f1f-8714-b389f1cbe5df", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the warning sign on the side of the road.", "destination": "the warning sign on the side of the road", "start_xy": [487, 505], "ang_err_namer_deg": 3.335285197673761, "ang_err_cycle_deg": 2.6165513582783793, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816575608175, "tier": "M", "id": "dc047c17_seg0", "clip": "dc047c17-8469-5f1f-8714-b389f1cbe5df", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [466, 505], "ang_err_namer_deg": 3.3445028788496196, "ang_err_cycle_deg": 3.40977115486397, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666187411448, "tier": "S", "id": "dc047c17_seg2", "clip": "dc047c17-8469-5f1f-8714-b389f1cbe5df", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/dc/dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46.json b/labels/outdoor/dc/dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46.json
index 1444b44018569ede1b7f7ee80120acd75eec0370..75fb6ab04be91456af243f48e5f7d90a0070b5ea 100644
--- a/labels/outdoor/dc/dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46.json
+++ b/labels/outdoor/dc/dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the convex mirror by the roadside.", "destination": "the convex mirror", "start_xy": [516, 612], "ang_err_namer_deg": 10.22214204449368, "ang_err_cycle_deg": 9.477273226502287, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "dc12ecca_seg0", "clip": "dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the silver SUV.", "destination": "silver SUV", "start_xy": [593, 677], "ang_err_namer_deg": 1.2982164642122376, "ang_err_cycle_deg": 1.3716729893298332, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "dc12ecca_seg1", "clip": "dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [737, 622], "ang_err_namer_deg": 9.443527984723293, "ang_err_cycle_deg": 16.129770628718415, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "dc12ecca_seg2", "clip": "dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the convex mirror by the roadside.", "destination": "the convex mirror", "start_xy": [516, 612], "ang_err_namer_deg": 10.22214204449368, "ang_err_cycle_deg": 9.477273226502287, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "dc12ecca_seg0", "clip": "dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the silver SUV.", "destination": "silver SUV", "start_xy": [593, 677], "ang_err_namer_deg": 1.2982164642122376, "ang_err_cycle_deg": 1.3716729893298332, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "dc12ecca_seg1", "clip": "dc12ecca-bf35-50cc-a12c-8e5ad0cc7a46", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/dc/dc5fb8e8-c493-579f-b789-e6cf0d330e2f.json b/labels/outdoor/dc/dc5fb8e8-c493-579f-b789-e6cf0d330e2f.json
index 1fa6ac4c57b97f1326fd933784205bcbba80016a..125a994ec5ec720f4b76c769677da07298944eac 100644
--- a/labels/outdoor/dc/dc5fb8e8-c493-579f-b789-e6cf0d330e2f.json
+++ b/labels/outdoor/dc/dc5fb8e8-c493-579f-b789-e6cf0d330e2f.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 67, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [487, 595], "ang_err_namer_deg": 6.682853538841736, "ang_err_cycle_deg": 17.411038522714456, "confidence": "B", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "dc5fb8e8_seg0", "clip": "dc5fb8e8-c493-579f-b789-e6cf0d330e2f", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 45, "instruction": "Go to the end of the stone-walled road.", "destination": "the end of the stone-walled road", "start_xy": [450, 550], "ang_err_namer_deg": 3.4997577907787085, "ang_err_cycle_deg": 3.0533121150407263, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "dc5fb8e8_seg1", "clip": "dc5fb8e8-c493-579f-b789-e6cf0d330e2f", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 23, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [482, 555], "ang_err_namer_deg": 13.047222339016896, "ang_err_cycle_deg": 13.047222339016896, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "dc5fb8e8_seg2", "clip": "dc5fb8e8-c493-579f-b789-e6cf0d330e2f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 23, "instruction": "Go to the curve in the road.", "destination": "the curve in the road", "start_xy": [482, 555], "ang_err_namer_deg": 13.047222339016896, "ang_err_cycle_deg": 13.047222339016896, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "dc5fb8e8_seg2", "clip": "dc5fb8e8-c493-579f-b789-e6cf0d330e2f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/de/de23a997-9096-5931-af74-a545e294f5fc.json b/labels/outdoor/de/de23a997-9096-5931-af74-a545e294f5fc.json
index 9dd1a49ae2a699f4a96d40cb1ee677715e3d2474..a6c6b540e4c5ce3cc4192c4908648b151b1664a5 100644
--- a/labels/outdoor/de/de23a997-9096-5931-af74-a545e294f5fc.json
+++ b/labels/outdoor/de/de23a997-9096-5931-af74-a545e294f5fc.json
@@ -1 +1 @@
-[{"t0": 71, "t_end": 81, "instruction": "Go to the speed limit sign.", "destination": "speed limit sign", "start_xy": [412, 570], "ang_err_namer_deg": 1.2111074568362181, "ang_err_cycle_deg": 1.0831229425578277, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "de23a997_seg0", "clip": "de23a997-9096-5931-af74-a545e294f5fc", "source": "spatialvid_v3"}, {"t0": 24, "t_end": 59, "instruction": "Go to the bend in the road.", "destination": "the bend in the road", "start_xy": [510, 707], "ang_err_namer_deg": 5.02082037921593, "ang_err_cycle_deg": 3.5349201829023693, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "de23a997_seg1", "clip": "de23a997-9096-5931-af74-a545e294f5fc", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 22, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [490, 700], "ang_err_namer_deg": 0.7309013801538855, "ang_err_cycle_deg": 0.020239004086511463, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "de23a997_seg2", "clip": "de23a997-9096-5931-af74-a545e294f5fc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 24, "t_end": 59, "instruction": "Go to the bend in the road.", "destination": "the bend in the road", "start_xy": [510, 707], "ang_err_namer_deg": 5.02082037921593, "ang_err_cycle_deg": 3.5349201829023693, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "de23a997_seg1", "clip": "de23a997-9096-5931-af74-a545e294f5fc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/de/de577658-f2c0-55ca-8dfa-191630f18ab1.json b/labels/outdoor/de/de577658-f2c0-55ca-8dfa-191630f18ab1.json
index d3085dd2ef269597ffec350cfac8326ec4262554..60862d5abcae12dd9090be5d43ffda917a5e0335 100644
--- a/labels/outdoor/de/de577658-f2c0-55ca-8dfa-191630f18ab1.json
+++ b/labels/outdoor/de/de577658-f2c0-55ca-8dfa-191630f18ab1.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the wooden fence on the left side of the road.", "destination": "the wooden fence on the left side of the road", "start_xy": [450, 700], "ang_err_namer_deg": 1.6484702863721021, "ang_err_cycle_deg": 0.13423372394775704, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "de577658_seg0", "clip": "de577658-f2c0-55ca-8dfa-191630f18ab1", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the area by the guardrail along the road.", "destination": "the area by the guardrail along the road", "start_xy": [485, 804], "ang_err_namer_deg": 7.585416240239045, "ang_err_cycle_deg": 0.7524221970157602, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "de577658_seg1", "clip": "de577658-f2c0-55ca-8dfa-191630f18ab1", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the area by the tunnel entrance.", "destination": "the tunnel entrance", "start_xy": [930, 700], "ang_err_namer_deg": 7.63868132320789, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "de577658_seg2", "clip": "de577658-f2c0-55ca-8dfa-191630f18ab1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the wooden fence on the left side of the road.", "destination": "the wooden fence on the left side of the road", "start_xy": [450, 700], "ang_err_namer_deg": 1.6484702863721021, "ang_err_cycle_deg": 0.13423372394775704, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "de577658_seg0", "clip": "de577658-f2c0-55ca-8dfa-191630f18ab1", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the area by the guardrail along the road.", "destination": "the area by the guardrail along the road", "start_xy": [485, 804], "ang_err_namer_deg": 7.585416240239045, "ang_err_cycle_deg": 0.7524221970157602, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "de577658_seg1", "clip": "de577658-f2c0-55ca-8dfa-191630f18ab1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/de/deb3dc79-4f14-5d7c-a498-2032e5e0f6a1.json b/labels/outdoor/de/deb3dc79-4f14-5d7c-a498-2032e5e0f6a1.json
index 1358741c38d3cf8c15b15fb99fa3ccab15843528..758a4ea32ee3591163fc421239fafe6d8031b1da 100644
--- a/labels/outdoor/de/deb3dc79-4f14-5d7c-a498-2032e5e0f6a1.json
+++ b/labels/outdoor/de/deb3dc79-4f14-5d7c-a498-2032e5e0f6a1.json
@@ -1 +1 @@
-[{"t0": 31, "t_end": 44, "instruction": "Go to the stone retaining wall.", "destination": "stone retaining wall", "start_xy": [45, 558], "ang_err_namer_deg": 1.208271453067371, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "deb3dc79_seg0", "clip": "deb3dc79-4f14-5d7c-a498-2032e5e0f6a1", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 29, "instruction": "Go to the sharp curve in the road.", "destination": "the sharp curve in the road", "start_xy": [725, 590], "ang_err_namer_deg": 10.535560161717632, "ang_err_cycle_deg": 0.9474688312356877, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "deb3dc79_seg1", "clip": "deb3dc79-4f14-5d7c-a498-2032e5e0f6a1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 29, "instruction": "Go to the sharp curve in the road.", "destination": "the sharp curve in the road", "start_xy": [725, 590], "ang_err_namer_deg": 10.535560161717632, "ang_err_cycle_deg": 0.9474688312356877, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "deb3dc79_seg1", "clip": "deb3dc79-4f14-5d7c-a498-2032e5e0f6a1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/df/df0252eb-f16b-5eea-b57d-ae726247906c.json b/labels/outdoor/df/df0252eb-f16b-5eea-b57d-ae726247906c.json
index 555e89f75c790b8266be020060120c2e22648a94..effe86616bdc659f38f8311e9a7becbc62c63bf2 100644
--- a/labels/outdoor/df/df0252eb-f16b-5eea-b57d-ae726247906c.json
+++ b/labels/outdoor/df/df0252eb-f16b-5eea-b57d-ae726247906c.json
@@ -1 +1 @@
-[{"t0": 22, "t_end": 54, "instruction": "Go to the industrial buildings near the tracks.", "destination": "the industrial buildings near the tracks", "start_xy": [484, 555], "ang_err_namer_deg": 11.413560517680759, "ang_err_cycle_deg": 11.6051475347104, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "df0252eb_seg0", "clip": "df0252eb-f16b-5eea-b57d-ae726247906c", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 20, "instruction": "Go to the yellow house.", "destination": "the yellow house", "start_xy": [485, 487], "ang_err_namer_deg": 2.0897299252280743, "ang_err_cycle_deg": 2.217456931118312, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "df0252eb_seg1", "clip": "df0252eb-f16b-5eea-b57d-ae726247906c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 22, "t_end": 54, "instruction": "Go to the industrial buildings near the tracks.", "destination": "the industrial buildings near the tracks", "start_xy": [484, 555], "ang_err_namer_deg": 11.413560517680759, "ang_err_cycle_deg": 11.6051475347104, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "df0252eb_seg0", "clip": "df0252eb-f16b-5eea-b57d-ae726247906c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/df/df089d78-ac25-5834-b867-3113a9415908.json b/labels/outdoor/df/df089d78-ac25-5834-b867-3113a9415908.json
index 302830867fbf10d871379d15103474fc789bb7ef..d32fc52505d73ec6be9606af19e9fa794d9c95ed 100644
--- a/labels/outdoor/df/df089d78-ac25-5834-b867-3113a9415908.json
+++ b/labels/outdoor/df/df089d78-ac25-5834-b867-3113a9415908.json
@@ -1 +1 @@
-[{"t0": 30, "t_end": 68, "instruction": "Go to the yellow sign on the right side of the road.", "destination": "the yellow sign on the right side of the road", "start_xy": [615, 678], "ang_err_namer_deg": 5.502834724520585, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "df089d78_seg0", "clip": "df089d78-ac25-5834-b867-3113a9415908", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 28, "instruction": "Go to the road sign on the right side of the road.", "destination": "the road sign on the right side of the road", "start_xy": [655, 792], "ang_err_namer_deg": 9.284704942787805, "ang_err_cycle_deg": 9.284704942787805, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "df089d78_seg1", "clip": "df089d78-ac25-5834-b867-3113a9415908", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 28, "instruction": "Go to the road sign on the right side of the road.", "destination": "the road sign on the right side of the road", "start_xy": [655, 792], "ang_err_namer_deg": 9.284704942787805, "ang_err_cycle_deg": 9.284704942787805, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "df089d78_seg1", "clip": "df089d78-ac25-5834-b867-3113a9415908", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/df/df420ff0-67cc-5c45-a7b0-f2affb2773a0.json b/labels/outdoor/df/df420ff0-67cc-5c45-a7b0-f2affb2773a0.json
index 966aceedfb0b792429a0b449e2ab3b7eacfd1908..a65ceb3d0510c8a10c5f852b178e7427f84fc481 100644
--- a/labels/outdoor/df/df420ff0-67cc-5c45-a7b0-f2affb2773a0.json
+++ b/labels/outdoor/df/df420ff0-67cc-5c45-a7b0-f2affb2773a0.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the colorful informational signs and the large metal sign structure by the roadside.", "destination": "the area with the colorful signs and metal structure", "start_xy": [485, 558], "ang_err_namer_deg": 4.483829184126665, "ang_err_cycle_deg": 4.306227773559186, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "df420ff0_seg0", "clip": "df420ff0-67cc-5c45-a7b0-f2affb2773a0", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area with the white building and bridge in the distance.", "destination": "the white building and bridge", "start_xy": [303, 512], "ang_err_namer_deg": 0.7358559316018942, "ang_err_cycle_deg": 5.597156998688397, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "df420ff0_seg1", "clip": "df420ff0-67cc-5c45-a7b0-f2affb2773a0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the colorful informational signs and the large metal sign structure by the roadside.", "destination": "the area with the colorful signs and metal structure", "start_xy": [485, 558], "ang_err_namer_deg": 4.483829184126665, "ang_err_cycle_deg": 4.306227773559186, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "df420ff0_seg0", "clip": "df420ff0-67cc-5c45-a7b0-f2affb2773a0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e096b7c2-2d72-55ef-921b-633aaaba8cf5.json b/labels/outdoor/e0/e096b7c2-2d72-55ef-921b-633aaaba8cf5.json
index 2822a6d5f7addf07b2f5406d050792bd4b51f37b..0eea1a0daa547c3a364e0681ab358218a081eacf 100644
--- a/labels/outdoor/e0/e096b7c2-2d72-55ef-921b-633aaaba8cf5.json
+++ b/labels/outdoor/e0/e096b7c2-2d72-55ef-921b-633aaaba8cf5.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the train station platform.", "destination": "the train station platform", "start_xy": [483, 792], "ang_err_namer_deg": 6.278228403888174, "ang_err_cycle_deg": 2.368150477079727, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "e096b7c2_seg0", "clip": "e096b7c2-2d72-55ef-921b-633aaaba8cf5", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the road crossing near the building with the yellow umbrellas.", "destination": "the road crossing", "start_xy": [498, 506], "ang_err_namer_deg": 3.0490150822609428, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "e096b7c2_seg1", "clip": "e096b7c2-2d72-55ef-921b-633aaaba8cf5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the train station platform.", "destination": "the train station platform", "start_xy": [483, 792], "ang_err_namer_deg": 6.278228403888174, "ang_err_cycle_deg": 2.368150477079727, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "e096b7c2_seg0", "clip": "e096b7c2-2d72-55ef-921b-633aaaba8cf5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e0ae95ea-f785-55c1-9ed3-4be107dde731.json b/labels/outdoor/e0/e0ae95ea-f785-55c1-9ed3-4be107dde731.json
index 4b70e6eebd8c04ae27615ea15bcefbb2cdc47503..2568e860be33278e6bd0b461e67478d4a21d2590 100644
--- a/labels/outdoor/e0/e0ae95ea-f785-55c1-9ed3-4be107dde731.json
+++ b/labels/outdoor/e0/e0ae95ea-f785-55c1-9ed3-4be107dde731.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the bend in the road near the road sign.", "destination": "the bend in the road near the road sign", "start_xy": [490, 597], "ang_err_namer_deg": 6.075239976534914, "ang_err_cycle_deg": 8.65581299130169, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e0ae95ea_seg0", "clip": "e0ae95ea-f785-55c1-9ed3-4be107dde731", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the yellow road sign.", "destination": "yellow road sign", "start_xy": [381, 546], "ang_err_namer_deg": 2.782575922638351, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e0ae95ea_seg1", "clip": "e0ae95ea-f785-55c1-9ed3-4be107dde731", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the bend in the road near the road sign.", "destination": "the bend in the road near the road sign", "start_xy": [490, 597], "ang_err_namer_deg": 6.075239976534914, "ang_err_cycle_deg": 8.65581299130169, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e0ae95ea_seg0", "clip": "e0ae95ea-f785-55c1-9ed3-4be107dde731", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e0ba8c7a-b769-5802-a107-6d0706a4b57e.json b/labels/outdoor/e0/e0ba8c7a-b769-5802-a107-6d0706a4b57e.json
index 7a5c3fe20f74e78d2329b170173835164c901651..2b2d3ab3bb9cbfbcbaf692a43c61b264e0fd0f65 100644
--- a/labels/outdoor/e0/e0ba8c7a-b769-5802-a107-6d0706a4b57e.json
+++ b/labels/outdoor/e0/e0ba8c7a-b769-5802-a107-6d0706a4b57e.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the pass between the rock formations.", "destination": "the pass between the rock formations", "start_xy": [482, 381], "ang_err_namer_deg": 6.784690238691193, "ang_err_cycle_deg": 6.890564013764745, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "e0ba8c7a_seg0", "clip": "e0ba8c7a-b769-5802-a107-6d0706a4b57e", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the 'Falling Rock' warning sign.", "destination": "the 'Falling Rock' warning sign", "start_xy": [427, 391], "ang_err_namer_deg": 4.295138780016284, "ang_err_cycle_deg": 4.295138780016284, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "e0ba8c7a_seg1", "clip": "e0ba8c7a-b769-5802-a107-6d0706a4b57e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the 'Falling Rock' warning sign.", "destination": "the 'Falling Rock' warning sign", "start_xy": [427, 391], "ang_err_namer_deg": 4.295138780016284, "ang_err_cycle_deg": 4.295138780016284, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "e0ba8c7a_seg1", "clip": "e0ba8c7a-b769-5802-a107-6d0706a4b57e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa.json b/labels/outdoor/e0/e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa.json
index d03024e67bc4ff53ab91bf67560f4f0a945f9c26..f06ee253bcc566b993ab666bde27d90d6b5e6f81 100644
--- a/labels/outdoor/e0/e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa.json
+++ b/labels/outdoor/e0/e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa.json
@@ -1 +1 @@
-[{"t0": 41, "t_end": 76, "instruction": "Go to the end of the muddy path.", "destination": "the end of the muddy path", "start_xy": [420, 794], "ang_err_namer_deg": 6.498478816490095, "ang_err_cycle_deg": 6.404300543248468, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "e0bf4eda_seg0", "clip": "e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 39, "instruction": "Go to the end of the wooden boardwalk.", "destination": "the end of the wooden boardwalk", "start_xy": [454, 662], "ang_err_namer_deg": 6.73999802281528, "ang_err_cycle_deg": 6.73999802281528, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e0bf4eda_seg1", "clip": "e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 4, "t_end": 39, "instruction": "Go to the end of the wooden boardwalk.", "destination": "the end of the wooden boardwalk", "start_xy": [454, 662], "ang_err_namer_deg": 6.73999802281528, "ang_err_cycle_deg": 6.73999802281528, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e0bf4eda_seg1", "clip": "e0bf4eda-badd-55a1-af1a-d69bbb0a4eaa", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e0e56c60-5a70-588a-a284-1626bd30e15f.json b/labels/outdoor/e0/e0e56c60-5a70-588a-a284-1626bd30e15f.json
index 52e1cab2150b17ab7fc276c4da6f8c3375fdc7b7..69a973c29bcc11a8aa4ffba33a82b85c7e2efafa 100644
--- a/labels/outdoor/e0/e0e56c60-5a70-588a-a284-1626bd30e15f.json
+++ b/labels/outdoor/e0/e0e56c60-5a70-588a-a284-1626bd30e15f.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the roundabout.", "destination": "the roundabout", "start_xy": [454, 622], "ang_err_namer_deg": 6.516037851663862, "ang_err_cycle_deg": 6.516037851663862, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e0e56c60_seg0", "clip": "e0e56c60-5a70-588a-a284-1626bd30e15f", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 30, "instruction": "Go to the intersection with the roundabout.", "destination": "the intersection with the roundabout", "start_xy": [634, 668], "ang_err_namer_deg": 3.018566810002437, "ang_err_cycle_deg": 0.8940346822995225, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "e0e56c60_seg1", "clip": "e0e56c60-5a70-588a-a284-1626bd30e15f", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 15, "instruction": "Go to the area by the bridge entrance.", "destination": "the area by the bridge entrance", "start_xy": [718, 745], "ang_err_namer_deg": 3.4780067624326643, "ang_err_cycle_deg": 0.8265630549730855, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "e0e56c60_seg2", "clip": "e0e56c60-5a70-588a-a284-1626bd30e15f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the roundabout.", "destination": "the roundabout", "start_xy": [454, 622], "ang_err_namer_deg": 6.516037851663862, "ang_err_cycle_deg": 6.516037851663862, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e0e56c60_seg0", "clip": "e0e56c60-5a70-588a-a284-1626bd30e15f", "source": "spatialvid_v3"}, {"t0": 17, "t_end": 30, "instruction": "Go to the intersection with the roundabout.", "destination": "the intersection with the roundabout", "start_xy": [634, 668], "ang_err_namer_deg": 3.018566810002437, "ang_err_cycle_deg": 0.8940346822995225, "confidence": "A", "arrival_ok": true, "duration_s": 2.6, "tier": "S", "id": "e0e56c60_seg1", "clip": "e0e56c60-5a70-588a-a284-1626bd30e15f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e0/e0fc6e05-8a0a-54a6-90ac-1f42fec3627b.json b/labels/outdoor/e0/e0fc6e05-8a0a-54a6-90ac-1f42fec3627b.json
index 585b8adab81b6205352701a1cd6b0f31b5f67eee..5b8ca4b548bc66e0a5defdecd402fe3cf17f7c1d 100644
--- a/labels/outdoor/e0/e0fc6e05-8a0a-54a6-90ac-1f42fec3627b.json
+++ b/labels/outdoor/e0/e0fc6e05-8a0a-54a6-90ac-1f42fec3627b.json
@@ -1 +1 @@
-[{"t0": 59, "t_end": 79, "instruction": "Go to the signpost by the side of the road.", "destination": "signpost", "start_xy": [841, 526], "ang_err_namer_deg": 9.157768017921065, "ang_err_cycle_deg": 9.157768017921065, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "e0fc6e05_seg0", "clip": "e0fc6e05-8a0a-54a6-90ac-1f42fec3627b", "source": "spatialvid_v3"}, {"t0": 37, "t_end": 57, "instruction": "Go to the area with the stone bollards along the edge of the road.", "destination": "the area with the stone bollards", "start_xy": [485, 757], "ang_err_namer_deg": 12.910193150641094, "ang_err_cycle_deg": 27.203971099586752, "confidence": "B", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "e0fc6e05_seg1", "clip": "e0fc6e05-8a0a-54a6-90ac-1f42fec3627b", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 35, "instruction": "Go to the bend in the mountain road.", "destination": "the bend in the mountain road", "start_xy": [480, 480], "ang_err_namer_deg": 4.128241754712903, "ang_err_cycle_deg": 8.20642195025346, "confidence": "B", "arrival_ok": false, "duration_s": 2.6693333333333333, "tier": "S", "id": "e0fc6e05_seg2", "clip": "e0fc6e05-8a0a-54a6-90ac-1f42fec3627b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 59, "t_end": 79, "instruction": "Go to the signpost by the side of the road.", "destination": "signpost", "start_xy": [841, 526], "ang_err_namer_deg": 9.157768017921065, "ang_err_cycle_deg": 9.157768017921065, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "e0fc6e05_seg0", "clip": "e0fc6e05-8a0a-54a6-90ac-1f42fec3627b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e1/e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f.json b/labels/outdoor/e1/e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f.json
index 13285bb47116a575f5519888ad3d7e4b58bb4de1..2861bf96b6214f05bb2fd70d9d06fa4e7f0b4847 100644
--- a/labels/outdoor/e1/e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f.json
+++ b/labels/outdoor/e1/e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area behind the grey SUV.", "destination": "the area behind the grey SUV", "start_xy": [405, 625], "ang_err_namer_deg": 1.2004182079688919, "ang_err_cycle_deg": 1.6215875432045972, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "e10b68fc_seg0", "clip": "e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area with the cars parked by the side of the road.", "destination": "the area with the cars parked by the side of the road", "start_xy": [845, 593], "ang_err_namer_deg": 1.2925090637782823, "ang_err_cycle_deg": 1.368503407850784, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e10b68fc_seg1", "clip": "e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area with the cars parked by the side of the road.", "destination": "the area with the cars parked by the side of the road", "start_xy": [845, 593], "ang_err_namer_deg": 1.2925090637782823, "ang_err_cycle_deg": 1.368503407850784, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e10b68fc_seg1", "clip": "e10b68fc-f7ac-5fcd-95cb-fbbac7b3990f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e1/e1313f69-1d60-5bbb-a340-9a5224a64f74.json b/labels/outdoor/e1/e1313f69-1d60-5bbb-a340-9a5224a64f74.json
index 52054ff98074d361d1f6975f18f9e4a134804e18..160ee130910e38a51c8a91aeef872dbbac8d1681 100644
--- a/labels/outdoor/e1/e1313f69-1d60-5bbb-a340-9a5224a64f74.json
+++ b/labels/outdoor/e1/e1313f69-1d60-5bbb-a340-9a5224a64f74.json
@@ -1 +1 @@
-[{"t0": 15, "t_end": 50, "instruction": "Go to the house along the road.", "destination": "the house along the road", "start_xy": [585, 555], "ang_err_namer_deg": 12.361694859449944, "ang_err_cycle_deg": 11.438983298476803, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "e1313f69_seg0", "clip": "e1313f69-1d60-5bbb-a340-9a5224a64f74", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the stone building with the red flowers by the road.", "destination": "the stone building with red flowers", "start_xy": [482, 574], "ang_err_namer_deg": 1.0380249551089606, "ang_err_cycle_deg": 0.6129874578401703, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "e1313f69_seg1", "clip": "e1313f69-1d60-5bbb-a340-9a5224a64f74", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 13, "instruction": "Go to the stone building with the red flowers by the road.", "destination": "the stone building with red flowers", "start_xy": [482, 574], "ang_err_namer_deg": 1.0380249551089606, "ang_err_cycle_deg": 0.6129874578401703, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "e1313f69_seg1", "clip": "e1313f69-1d60-5bbb-a340-9a5224a64f74", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e1/e165cc2b-fe5e-5a1b-aa67-278e90a03c0c.json b/labels/outdoor/e1/e165cc2b-fe5e-5a1b-aa67-278e90a03c0c.json
index 0c33bb3edf76152161de8ade3f4354625f79bb05..a38c473a9cd00e7b1dcca04f8767754133c988d4 100644
--- a/labels/outdoor/e1/e165cc2b-fe5e-5a1b-aa67-278e90a03c0c.json
+++ b/labels/outdoor/e1/e165cc2b-fe5e-5a1b-aa67-278e90a03c0c.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the roadside sign at the entrance of the village.", "destination": "roadside sign", "start_xy": [483, 745], "ang_err_namer_deg": 7.876306561317828, "ang_err_cycle_deg": 12.831689944906131, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e165cc2b_seg0", "clip": "e165cc2b-fe5e-5a1b-aa67-278e90a03c0c", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the pedestrian crossing sign.", "destination": "pedestrian crossing sign", "start_xy": [169, 605], "ang_err_namer_deg": 5.583012366342046, "ang_err_cycle_deg": 5.583012366342046, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "e165cc2b_seg1", "clip": "e165cc2b-fe5e-5a1b-aa67-278e90a03c0c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the roadside sign at the entrance of the village.", "destination": "roadside sign", "start_xy": [483, 745], "ang_err_namer_deg": 7.876306561317828, "ang_err_cycle_deg": 12.831689944906131, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e165cc2b_seg0", "clip": "e165cc2b-fe5e-5a1b-aa67-278e90a03c0c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e3/e343d262-fa6f-50ff-9f8a-a92f48af46e2.json b/labels/outdoor/e3/e343d262-fa6f-50ff-9f8a-a92f48af46e2.json
index 09f5ed51083cd4f53d4a798ef11542d522d105f5..03d3a1d6df1627153a40ae841350a19f2bdc3987 100644
--- a/labels/outdoor/e3/e343d262-fa6f-50ff-9f8a-a92f48af46e2.json
+++ b/labels/outdoor/e3/e343d262-fa6f-50ff-9f8a-a92f48af46e2.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [304, 595], "ang_err_namer_deg": 7.673247711342592, "ang_err_cycle_deg": 7.742221432014611, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e343d262_seg0", "clip": "e343d262-fa6f-50ff-9f8a-a92f48af46e2", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the zig-zag warning sign on the side of the road.", "destination": "the zig-zag warning sign", "start_xy": [750, 583], "ang_err_namer_deg": 11.618017506894269, "ang_err_cycle_deg": 11.418331984564052, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "e343d262_seg1", "clip": "e343d262-fa6f-50ff-9f8a-a92f48af46e2", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the yellow caution road sign.", "destination": "the yellow caution road sign", "start_xy": [757, 612], "ang_err_namer_deg": 0.6372265673726164, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "e343d262_seg2", "clip": "e343d262-fa6f-50ff-9f8a-a92f48af46e2", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [304, 595], "ang_err_namer_deg": 7.673247711342592, "ang_err_cycle_deg": 7.742221432014611, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e343d262_seg0", "clip": "e343d262-fa6f-50ff-9f8a-a92f48af46e2", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e3/e38c1573-b115-53ab-afe5-25038c9ec98e.json b/labels/outdoor/e3/e38c1573-b115-53ab-afe5-25038c9ec98e.json
index 1784c7f3f559432e0f87e95cf79b1e989f0f1b76..10be2b6e42f6c0d833bb7ec07696525abc8fb1c6 100644
--- a/labels/outdoor/e3/e38c1573-b115-53ab-afe5-25038c9ec98e.json
+++ b/labels/outdoor/e3/e38c1573-b115-53ab-afe5-25038c9ec98e.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the street lamp with the pedestrian sign.", "destination": "the area by the street lamp with the pedestrian sign", "start_xy": [625, 343], "ang_err_namer_deg": 3.1083610133306974, "ang_err_cycle_deg": 4.2951266609688865, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e38c1573_seg0", "clip": "e38c1573-b115-53ab-afe5-25038c9ec98e", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the pedestrian crossing sign.", "destination": "pedestrian crossing sign", "start_xy": [470, 387], "ang_err_namer_deg": 11.85615188577719, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e38c1573_seg1", "clip": "e38c1573-b115-53ab-afe5-25038c9ec98e", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the area by the street lamp with the pedestrian sign.", "destination": "the area by the street lamp with the pedestrian sign", "start_xy": [625, 343], "ang_err_namer_deg": 3.1083610133306974, "ang_err_cycle_deg": 4.2951266609688865, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e38c1573_seg0", "clip": "e38c1573-b115-53ab-afe5-25038c9ec98e", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e3/e3c0055b-2212-544f-973d-f06d2e0b4df7.json b/labels/outdoor/e3/e3c0055b-2212-544f-973d-f06d2e0b4df7.json
index 997a6b3ab0f4913fc0983acce7417fa2e410e658..06b8c04966ec15f65657436da1f09c08f3262e87 100644
--- a/labels/outdoor/e3/e3c0055b-2212-544f-973d-f06d2e0b4df7.json
+++ b/labels/outdoor/e3/e3c0055b-2212-544f-973d-f06d2e0b4df7.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area by the guardrail near the trees.", "destination": "the area by the guardrail near the trees", "start_xy": [351, 724], "ang_err_namer_deg": 5.6123977729801995, "ang_err_cycle_deg": 5.542091567404348, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "e3c0055b_seg0", "clip": "e3c0055b-2212-544f-973d-f06d2e0b4df7", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area by the guardrail on the right side of the road where the trees meet the open space.", "destination": "the area by the guardrail on the right", "start_xy": [750, 850], "ang_err_namer_deg": 8.66223386428421, "ang_err_cycle_deg": 1.3623146665929164, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "e3c0055b_seg1", "clip": "e3c0055b-2212-544f-973d-f06d2e0b4df7", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the large rock by the side of the road.", "destination": "the large rock", "start_xy": [643, 669], "ang_err_namer_deg": 10.184989828204127, "ang_err_cycle_deg": 10.184989828204127, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "e3c0055b_seg2", "clip": "e3c0055b-2212-544f-973d-f06d2e0b4df7", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the area by the guardrail on the right side of the road where the trees meet the open space.", "destination": "the area by the guardrail on the right", "start_xy": [750, 850], "ang_err_namer_deg": 8.66223386428421, "ang_err_cycle_deg": 1.3623146665929164, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "e3c0055b_seg1", "clip": "e3c0055b-2212-544f-973d-f06d2e0b4df7", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e3/e3e06c2e-b471-54dc-9b01-814d8c036e80.json b/labels/outdoor/e3/e3e06c2e-b471-54dc-9b01-814d8c036e80.json
index cc5bf5bf3eff0117922868b5d4e648f339c8c96a..591dda27977403e8484f920d0d79ed1cb1b478b3 100644
--- a/labels/outdoor/e3/e3e06c2e-b471-54dc-9b01-814d8c036e80.json
+++ b/labels/outdoor/e3/e3e06c2e-b471-54dc-9b01-814d8c036e80.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the overhead utility pole.", "destination": "the overhead utility pole", "start_xy": [516, 277], "ang_err_namer_deg": 6.675629573463301, "ang_err_cycle_deg": 6.340806342340589, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "e3e06c2e_seg0", "clip": "e3e06c2e-b471-54dc-9b01-814d8c036e80", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the yellow sign by the railroad tracks.", "destination": "yellow sign", "start_xy": [447, 498], "ang_err_namer_deg": 7.892025710309725, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e3e06c2e_seg1", "clip": "e3e06c2e-b471-54dc-9b01-814d8c036e80", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area of the utility pole along the railway tracks.", "destination": "the utility pole", "start_xy": [526, 304], "ang_err_namer_deg": 8.732397242876184, "ang_err_cycle_deg": 8.732397242876184, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "e3e06c2e_seg2", "clip": "e3e06c2e-b471-54dc-9b01-814d8c036e80", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the area of the utility pole along the railway tracks.", "destination": "the utility pole", "start_xy": [526, 304], "ang_err_namer_deg": 8.732397242876184, "ang_err_cycle_deg": 8.732397242876184, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "e3e06c2e_seg2", "clip": "e3e06c2e-b471-54dc-9b01-814d8c036e80", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e4/e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8.json b/labels/outdoor/e4/e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8.json
index 3eb517865de97cd099f3e37dbce1113aa9fe3524..1d10198cecf678e4e2c4e709751c022566430f71 100644
--- a/labels/outdoor/e4/e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8.json
+++ b/labels/outdoor/e4/e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8.json
@@ -1 +1 @@
-[{"t0": 19, "t_end": 51, "instruction": "Go to the area by the Banana Republic store.", "destination": "Banana Republic store", "start_xy": [372, 662], "ang_err_namer_deg": 11.629224643750279, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e4c0f9f7_seg0", "clip": "e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the intersection of Prince Street.", "destination": "the intersection of Prince Street", "start_xy": [643, 393], "ang_err_namer_deg": 13.716492742572703, "ang_err_cycle_deg": 10.199005161952872, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "e4c0f9f7_seg1", "clip": "e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 17, "instruction": "Go to the intersection of Prince Street.", "destination": "the intersection of Prince Street", "start_xy": [643, 393], "ang_err_namer_deg": 13.716492742572703, "ang_err_cycle_deg": 10.199005161952872, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "e4c0f9f7_seg1", "clip": "e4c0f9f7-2a1c-5e68-b67b-0d3008c803e8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e4/e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a.json b/labels/outdoor/e4/e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a.json
index 49129b49eb0826a634296a9a2be6db12c18faefd..cb5bc7dc0f245934c9c96fa99f25c6be0e0a6ae2 100644
--- a/labels/outdoor/e4/e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a.json
+++ b/labels/outdoor/e4/e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the blue car parked by the roadside.", "destination": "the blue car parked by the roadside", "start_xy": [285, 622], "ang_err_namer_deg": 0.4552512494592435, "ang_err_cycle_deg": 1.2354735655348315, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e4d70048_seg0", "clip": "e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the yellow caution sign.", "destination": "the yellow caution sign", "start_xy": [516, 352], "ang_err_namer_deg": 3.9109700005982644, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e4d70048_seg1", "clip": "e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the blue car parked by the roadside.", "destination": "the blue car parked by the roadside", "start_xy": [285, 622], "ang_err_namer_deg": 0.4552512494592435, "ang_err_cycle_deg": 1.2354735655348315, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e4d70048_seg0", "clip": "e4d70048-9ae6-5d1b-bfdb-7fc5fbfde49a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e5/e5007a50-c57c-56b1-9271-15d2dc5bd62f.json b/labels/outdoor/e5/e5007a50-c57c-56b1-9271-15d2dc5bd62f.json
index be48fa672130668ce3b8b6529ffa438bf0b619ef..613f9e2753285200c5d67e6f8fa46f8c2de3a16c 100644
--- a/labels/outdoor/e5/e5007a50-c57c-56b1-9271-15d2dc5bd62f.json
+++ b/labels/outdoor/e5/e5007a50-c57c-56b1-9271-15d2dc5bd62f.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [503, 564], "ang_err_namer_deg": 11.40762979638253, "ang_err_cycle_deg": 11.482057666381332, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e5007a50_seg0", "clip": "e5007a50-c57c-56b1-9271-15d2dc5bd62f", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the red sign.", "destination": "red sign", "start_xy": [210, 612], "ang_err_namer_deg": 7.206767561388735, "ang_err_cycle_deg": 7.206767561388735, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "e5007a50_seg1", "clip": "e5007a50-c57c-56b1-9271-15d2dc5bd62f", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [503, 564], "ang_err_namer_deg": 11.40762979638253, "ang_err_cycle_deg": 11.482057666381332, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e5007a50_seg0", "clip": "e5007a50-c57c-56b1-9271-15d2dc5bd62f", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e5/e5698cbe-1588-593b-bd8d-3fde4a42b682.json b/labels/outdoor/e5/e5698cbe-1588-593b-bd8d-3fde4a42b682.json
index 3edb6821a56a06c8c33ecf2a3f2531c7735714da..9e2503e16d2af2b3c7d8c8b6d531122b04a30e9d 100644
--- a/labels/outdoor/e5/e5698cbe-1588-593b-bd8d-3fde4a42b682.json
+++ b/labels/outdoor/e5/e5698cbe-1588-593b-bd8d-3fde4a42b682.json
@@ -1 +1 @@
-[{"t0": 44, "t_end": 64, "instruction": "Go to the stretch of road flanked by the tall pine trees.", "destination": "the stretch of road flanked by the tall pine trees", "start_xy": [500, 700], "ang_err_namer_deg": 9.105227354259648, "ang_err_cycle_deg": 10.407377058813246, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "e5698cbe_seg0", "clip": "e5698cbe-1588-593b-bd8d-3fde4a42b682", "source": "spatialvid_v3"}, {"t0": 4, "t_end": 42, "instruction": "Go to the end of the curve in the road.", "destination": "the end of the curve in the road", "start_xy": [582, 786], "ang_err_namer_deg": 6.495706685198005, "ang_err_cycle_deg": 4.938723795749237, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "e5698cbe_seg1", "clip": "e5698cbe-1588-593b-bd8d-3fde4a42b682", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 44, "t_end": 64, "instruction": "Go to the stretch of road flanked by the tall pine trees.", "destination": "the stretch of road flanked by the tall pine trees", "start_xy": [500, 700], "ang_err_namer_deg": 9.105227354259648, "ang_err_cycle_deg": 10.407377058813246, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "e5698cbe_seg0", "clip": "e5698cbe-1588-593b-bd8d-3fde4a42b682", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e5/e59fd009-6f28-53e9-a71a-48b72dededbf.json b/labels/outdoor/e5/e59fd009-6f28-53e9-a71a-48b72dededbf.json
index bfc9d2848bb03daeffdece768c9abbcd62239780..5524f6dedddf06debcb29a319d07bf0bf282214e 100644
--- a/labels/outdoor/e5/e59fd009-6f28-53e9-a71a-48b72dededbf.json
+++ b/labels/outdoor/e5/e59fd009-6f28-53e9-a71a-48b72dededbf.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the car.", "destination": "the car", "start_xy": [331, 686], "ang_err_namer_deg": 2.221483113195363, "ang_err_cycle_deg": 2.221483113195363, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "e59fd009_seg0", "clip": "e59fd009-6f28-53e9-a71a-48b72dededbf", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the pedestrian crossing sign.", "destination": "the pedestrian crossing sign", "start_xy": [491, 612], "ang_err_namer_deg": 6.129107811174547, "ang_err_cycle_deg": 6.208422901393671, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "e59fd009_seg1", "clip": "e59fd009-6f28-53e9-a71a-48b72dededbf", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the stone wall.", "destination": "the stone wall", "start_xy": [863, 505], "ang_err_namer_deg": 12.069688869885605, "ang_err_cycle_deg": 12.069688869885605, "confidence": "B", "arrival_ok": false, "duration_s": 4.220883333333333, "tier": "M", "id": "e59fd009_seg2", "clip": "e59fd009-6f28-53e9-a71a-48b72dededbf", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 44, "instruction": "Go to the pedestrian crossing sign.", "destination": "the pedestrian crossing sign", "start_xy": [491, 612], "ang_err_namer_deg": 6.129107811174547, "ang_err_cycle_deg": 6.208422901393671, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "e59fd009_seg1", "clip": "e59fd009-6f28-53e9-a71a-48b72dededbf", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e6/e6eade13-27d2-50ad-b92e-7de03de01592.json b/labels/outdoor/e6/e6eade13-27d2-50ad-b92e-7de03de01592.json
index 9702bfe9e65f2459ba2410862166890e202bd3b5..a3dd9b321a6f87654e7afb6daa29af308c1f076e 100644
--- a/labels/outdoor/e6/e6eade13-27d2-50ad-b92e-7de03de01592.json
+++ b/labels/outdoor/e6/e6eade13-27d2-50ad-b92e-7de03de01592.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the large rocks beside the road.", "destination": "the area with the large rocks beside the road", "start_xy": [680, 660], "ang_err_namer_deg": 5.737521181067333, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "e6eade13_seg0", "clip": "e6eade13-27d2-50ad-b92e-7de03de01592", "source": "spatialvid_v3"}, {"t0": 41, "t_end": 60, "instruction": "Go to the area of the bend in the road.", "destination": "the bend in the road", "start_xy": [485, 743], "ang_err_namer_deg": 8.143431616924335, "ang_err_cycle_deg": 0.06167226012406729, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "e6eade13_seg1", "clip": "e6eade13-27d2-50ad-b92e-7de03de01592", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 39, "instruction": "Go to the valley area.", "destination": "the valley area", "start_xy": [372, 612], "ang_err_namer_deg": 0.7794168695864632, "ang_err_cycle_deg": 0.7086028236347011, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "e6eade13_seg2", "clip": "e6eade13-27d2-50ad-b92e-7de03de01592", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 41, "t_end": 60, "instruction": "Go to the area of the bend in the road.", "destination": "the bend in the road", "start_xy": [485, 743], "ang_err_namer_deg": 8.143431616924335, "ang_err_cycle_deg": 0.06167226012406729, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "e6eade13_seg1", "clip": "e6eade13-27d2-50ad-b92e-7de03de01592", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e8/e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27.json b/labels/outdoor/e8/e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27.json
index 0df93cf4037b650bdaa88030f3f36e61ec2b39b0..72a6e957533beea0a742d57d68f86c731f3f70d7 100644
--- a/labels/outdoor/e8/e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27.json
+++ b/labels/outdoor/e8/e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the stone wall along the road.", "destination": "stone wall", "start_xy": [485, 591], "ang_err_namer_deg": 12.79111793704717, "ang_err_cycle_deg": 12.488390188379075, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "e84fd2d1_seg0", "clip": "e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [583, 661], "ang_err_namer_deg": 10.066688275544418, "ang_err_cycle_deg": 11.706777538922388, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e84fd2d1_seg1", "clip": "e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the concrete wall along the road.", "destination": "the concrete wall", "start_xy": [583, 661], "ang_err_namer_deg": 10.066688275544418, "ang_err_cycle_deg": 11.706777538922388, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e84fd2d1_seg1", "clip": "e84fd2d1-7a60-5e4f-98c2-9d8e44e95f27", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e8/e869f597-b517-5958-ac45-2aedb08f2dab.json b/labels/outdoor/e8/e869f597-b517-5958-ac45-2aedb08f2dab.json
index f8518cefe44f11e28c3c523857994ac70c5dcf4d..b17e505c2c8b0415c29b926ae0a8c015dc7d0998 100644
--- a/labels/outdoor/e8/e869f597-b517-5958-ac45-2aedb08f2dab.json
+++ b/labels/outdoor/e8/e869f597-b517-5958-ac45-2aedb08f2dab.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the vehicle on the road.", "destination": "the vehicle", "start_xy": [283, 601], "ang_err_namer_deg": 5.896867052328201, "ang_err_cycle_deg": 5.896867052328201, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "e869f597_seg0", "clip": "e869f597-b517-5958-ac45-2aedb08f2dab", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the end of the metal guardrail on the right.", "destination": "the end of the metal guardrail on the right", "start_xy": [553, 665], "ang_err_namer_deg": 1.8239695629840114, "ang_err_cycle_deg": 2.1178653021519978, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "e869f597_seg1", "clip": "e869f597-b517-5958-ac45-2aedb08f2dab", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [453, 634], "ang_err_namer_deg": 6.630953696071585, "ang_err_cycle_deg": 6.630953696071585, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "e869f597_seg2", "clip": "e869f597-b517-5958-ac45-2aedb08f2dab", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the road sign ahead.", "destination": "the road sign", "start_xy": [523, 669], "ang_err_namer_deg": 0.495761340327706, "ang_err_cycle_deg": 0.495761340327706, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "e869f597_seg3", "clip": "e869f597-b517-5958-ac45-2aedb08f2dab", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 23, "instruction": "Go to the road sign.", "destination": "the road sign", "start_xy": [453, 634], "ang_err_namer_deg": 6.630953696071585, "ang_err_cycle_deg": 6.630953696071585, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351666666666666, "tier": "S", "id": "e869f597_seg2", "clip": "e869f597-b517-5958-ac45-2aedb08f2dab", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e8/e8886040-1b38-5a55-bd08-b2a97008acd0.json b/labels/outdoor/e8/e8886040-1b38-5a55-bd08-b2a97008acd0.json
index 804371aa9f0dbd8e8ea4c0245fba00c226efbf7d..a9061441f6e3e9d259909fd78f424637dc1a7763 100644
--- a/labels/outdoor/e8/e8886040-1b38-5a55-bd08-b2a97008acd0.json
+++ b/labels/outdoor/e8/e8886040-1b38-5a55-bd08-b2a97008acd0.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area in front of the white building with the balcony to the right of Les Habitudes.", "destination": "the area in front of the white building with the balcony", "start_xy": [472, 427], "ang_err_namer_deg": 13.796908793107772, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e8886040_seg0", "clip": "e8886040-1b38-5a55-bd08-b2a97008acd0", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the large planter by the tree.", "destination": "the large planter by the tree", "start_xy": [485, 745], "ang_err_namer_deg": 6.916436150831558, "ang_err_cycle_deg": 7.344368223045624, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "e8886040_seg1", "clip": "e8886040-1b38-5a55-bd08-b2a97008acd0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the large planter by the tree.", "destination": "the large planter by the tree", "start_xy": [485, 745], "ang_err_namer_deg": 6.916436150831558, "ang_err_cycle_deg": 7.344368223045624, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "e8886040_seg1", "clip": "e8886040-1b38-5a55-bd08-b2a97008acd0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e8/e8bec3be-58b6-52dd-b01a-130e91ad1fb5.json b/labels/outdoor/e8/e8bec3be-58b6-52dd-b01a-130e91ad1fb5.json
index b9c0619048f6028a7764c3a670ee4fd3afe4456f..486a34376d04a9cd64cf17db1def79eff5360df6 100644
--- a/labels/outdoor/e8/e8bec3be-58b6-52dd-b01a-130e91ad1fb5.json
+++ b/labels/outdoor/e8/e8bec3be-58b6-52dd-b01a-130e91ad1fb5.json
@@ -1 +1 @@
-[{"t0": 32, "t_end": 64, "instruction": "Go to the large wooden house on the right.", "destination": "large wooden house", "start_xy": [756, 558], "ang_err_namer_deg": 12.924836456699207, "ang_err_cycle_deg": 11.456236338799748, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e8bec3be_seg0", "clip": "e8bec3be-58b6-52dd-b01a-130e91ad1fb5", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 30, "instruction": "Go to the area by the brown wooden building.", "destination": "the brown wooden building", "start_xy": [788, 622], "ang_err_namer_deg": 6.730180174690997, "ang_err_cycle_deg": 4.848242969461955, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "e8bec3be_seg1", "clip": "e8bec3be-58b6-52dd-b01a-130e91ad1fb5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 32, "t_end": 64, "instruction": "Go to the large wooden house on the right.", "destination": "large wooden house", "start_xy": [756, 558], "ang_err_namer_deg": 12.924836456699207, "ang_err_cycle_deg": 11.456236338799748, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "e8bec3be_seg0", "clip": "e8bec3be-58b6-52dd-b01a-130e91ad1fb5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e9/e97b02b9-6969-58b3-a82b-640bb1475be6.json b/labels/outdoor/e9/e97b02b9-6969-58b3-a82b-640bb1475be6.json
index 4c998c0f33b5cdf38a71490654f3a0267a49412e..8748e67200014139ec5f41aca509d542e8cb0193 100644
--- a/labels/outdoor/e9/e97b02b9-6969-58b3-a82b-640bb1475be6.json
+++ b/labels/outdoor/e9/e97b02b9-6969-58b3-a82b-640bb1475be6.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area between the restaurant with the black umbrellas and the building with the American flags.", "destination": "the area between the restaurant with the black umbrellas and the building with the American flags", "start_xy": [485, 551], "ang_err_namer_deg": 0.22447106269860984, "ang_err_cycle_deg": 3.781109973293741, "confidence": "A", "arrival_ok": true, "duration_s": 3.399568672595088, "tier": "M", "id": "e97b02b9_seg0", "clip": "e97b02b9-6969-58b3-a82b-640bb1475be6", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the area in front of the building with the flags.", "destination": "the area in front of the building with the flags", "start_xy": [490, 510], "ang_err_namer_deg": 11.193168387279126, "ang_err_cycle_deg": 15.847632037356583, "confidence": "B", "arrival_ok": false, "duration_s": 6.399188089590754, "tier": "L", "id": "e97b02b9_seg1", "clip": "e97b02b9-6969-58b3-a82b-640bb1475be6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the area between the restaurant with the black umbrellas and the building with the American flags.", "destination": "the area between the restaurant with the black umbrellas and the building with the American flags", "start_xy": [485, 551], "ang_err_namer_deg": 0.22447106269860984, "ang_err_cycle_deg": 3.781109973293741, "confidence": "A", "arrival_ok": true, "duration_s": 3.399568672595088, "tier": "M", "id": "e97b02b9_seg0", "clip": "e97b02b9-6969-58b3-a82b-640bb1475be6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/e9/e9ce5f77-f913-592c-9cc3-fd42853a0bd0.json b/labels/outdoor/e9/e9ce5f77-f913-592c-9cc3-fd42853a0bd0.json
index 6202c056fb6cc6b32ebdb0e5d5b6884f74fceec7..60b8d3737d01e14c2d474d42552640ebfc276f5c 100644
--- a/labels/outdoor/e9/e9ce5f77-f913-592c-9cc3-fd42853a0bd0.json
+++ b/labels/outdoor/e9/e9ce5f77-f913-592c-9cc3-fd42853a0bd0.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the arched doorway with the potted plants.", "destination": "the arched doorway", "start_xy": [510, 320], "ang_err_namer_deg": 8.800914444426224, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e9ce5f77_seg0", "clip": "e9ce5f77-f913-592c-9cc3-fd42853a0bd0", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the area by the stone steps.", "destination": "the stone steps", "start_xy": [395, 668], "ang_err_namer_deg": 9.852166720277681, "ang_err_cycle_deg": 10.093403462136672, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e9ce5f77_seg1", "clip": "e9ce5f77-f913-592c-9cc3-fd42853a0bd0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the area by the stone steps.", "destination": "the stone steps", "start_xy": [395, 668], "ang_err_namer_deg": 9.852166720277681, "ang_err_cycle_deg": 10.093403462136672, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "e9ce5f77_seg1", "clip": "e9ce5f77-f913-592c-9cc3-fd42853a0bd0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ea/ea517c89-1e81-51e7-9945-91a35d738465.json b/labels/outdoor/ea/ea517c89-1e81-51e7-9945-91a35d738465.json
index 071be271199d21a3393bbdd1f4d85c2158a523d0..e45046d6f8e7b248ecde313d5cf7ada50b87dced 100644
--- a/labels/outdoor/ea/ea517c89-1e81-51e7-9945-91a35d738465.json
+++ b/labels/outdoor/ea/ea517c89-1e81-51e7-9945-91a35d738465.json
@@ -1 +1 @@
-[{"t0": 49, "t_end": 66, "instruction": "Go to the stone staircase by the side of the road.", "destination": "stone staircase", "start_xy": [583, 661], "ang_err_namer_deg": 6.445638459545535, "ang_err_cycle_deg": 6.986950528698537, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ea517c89_seg0", "clip": "ea517c89-1e81-51e7-9945-91a35d738465", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 47, "instruction": "Go to the blue portable toilet on the side of the road.", "destination": "blue portable toilet", "start_xy": [427, 643], "ang_err_namer_deg": 6.178405493858629, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "ea517c89_seg1", "clip": "ea517c89-1e81-51e7-9945-91a35d738465", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 49, "t_end": 66, "instruction": "Go to the stone staircase by the side of the road.", "destination": "stone staircase", "start_xy": [583, 661], "ang_err_namer_deg": 6.445638459545535, "ang_err_cycle_deg": 6.986950528698537, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ea517c89_seg0", "clip": "ea517c89-1e81-51e7-9945-91a35d738465", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ea/eabbc9fb-9db8-57ba-92f8-363c30b6ba2c.json b/labels/outdoor/ea/eabbc9fb-9db8-57ba-92f8-363c30b6ba2c.json
index 5971f41887e28238d9a24bca3fe447881a92fc6f..ca11ecb391492e207c1eab9ac622435f6752b32a 100644
--- a/labels/outdoor/ea/eabbc9fb-9db8-57ba-92f8-363c30b6ba2c.json
+++ b/labels/outdoor/ea/eabbc9fb-9db8-57ba-92f8-363c30b6ba2c.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the yellow track sign.", "destination": "yellow track sign", "start_xy": [483, 519], "ang_err_namer_deg": 13.564464219639028, "ang_err_cycle_deg": 13.564464219639028, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "eabbc9fb_seg0", "clip": "eabbc9fb-9db8-57ba-92f8-363c30b6ba2c", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 35, "instruction": "Go to the small shed near the tracks.", "destination": "small shed", "start_xy": [599, 487], "ang_err_namer_deg": 11.581225259778835, "ang_err_cycle_deg": 10.739808459014068, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "eabbc9fb_seg1", "clip": "eabbc9fb-9db8-57ba-92f8-363c30b6ba2c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 35, "instruction": "Go to the small shed near the tracks.", "destination": "small shed", "start_xy": [599, 487], "ang_err_namer_deg": 11.581225259778835, "ang_err_cycle_deg": 10.739808459014068, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "eabbc9fb_seg1", "clip": "eabbc9fb-9db8-57ba-92f8-363c30b6ba2c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/eb/eb3f6c16-a788-53a9-bcd8-5e5b22522343.json b/labels/outdoor/eb/eb3f6c16-a788-53a9-bcd8-5e5b22522343.json
index 9df6047daf9b5f2debb7ee220e21f65ee0de1613..0776baa85e1f34bcd5e2452e34f629faf2625ea2 100644
--- a/labels/outdoor/eb/eb3f6c16-a788-53a9-bcd8-5e5b22522343.json
+++ b/labels/outdoor/eb/eb3f6c16-a788-53a9-bcd8-5e5b22522343.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the kilometer marker 207 on the side of the road.", "destination": "the kilometer marker 207", "start_xy": [743, 809], "ang_err_namer_deg": 7.327998761340405, "ang_err_cycle_deg": 7.184288989298826, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "eb3f6c16_seg0", "clip": "eb3f6c16-a788-53a9-bcd8-5e5b22522343", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [372, 597], "ang_err_namer_deg": 3.385346931636411, "ang_err_cycle_deg": 1.4928445632265537, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "eb3f6c16_seg1", "clip": "eb3f6c16-a788-53a9-bcd8-5e5b22522343", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the yellow barrier along the road.", "destination": "the yellow barrier", "start_xy": [427, 648], "ang_err_namer_deg": 3.5627602239978367, "ang_err_cycle_deg": 3.5627602239978367, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "eb3f6c16_seg2", "clip": "eb3f6c16-a788-53a9-bcd8-5e5b22522343", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 47, "t_end": 64, "instruction": "Go to the kilometer marker 207 on the side of the road.", "destination": "the kilometer marker 207", "start_xy": [743, 809], "ang_err_namer_deg": 7.327998761340405, "ang_err_cycle_deg": 7.184288989298826, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "eb3f6c16_seg0", "clip": "eb3f6c16-a788-53a9-bcd8-5e5b22522343", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/eb/ebb8a7e9-dcd3-5926-be6d-d678bdc6a082.json b/labels/outdoor/eb/ebb8a7e9-dcd3-5926-be6d-d678bdc6a082.json
index 8bcba2605425d36ed05444fea13055d43021aec9..bec16f1a2ac539709bb83e8e67ca0ad92c078157 100644
--- a/labels/outdoor/eb/ebb8a7e9-dcd3-5926-be6d-d678bdc6a082.json
+++ b/labels/outdoor/eb/ebb8a7e9-dcd3-5926-be6d-d678bdc6a082.json
@@ -1 +1 @@
-[{"t0": 47, "t_end": 64, "instruction": "Go to the brown shed on the right side of the road.", "destination": "the brown shed on the right side of the road", "start_xy": [526, 527], "ang_err_namer_deg": 3.100277237473433, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ebb8a7e9_seg0", "clip": "ebb8a7e9-dcd3-5926-be6d-d678bdc6a082", "source": "spatialvid_v3"}, {"t0": 28, "t_end": 45, "instruction": "Go to the brown wooden barn.", "destination": "brown wooden barn", "start_xy": [105, 570], "ang_err_namer_deg": 10.69884716996031, "ang_err_cycle_deg": 10.050172297385823, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ebb8a7e9_seg1", "clip": "ebb8a7e9-dcd3-5926-be6d-d678bdc6a082", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [700, 550], "ang_err_namer_deg": 1.1743153154564856, "ang_err_cycle_deg": 3.376318435250039, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "ebb8a7e9_seg2", "clip": "ebb8a7e9-dcd3-5926-be6d-d678bdc6a082", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 28, "t_end": 45, "instruction": "Go to the brown wooden barn.", "destination": "brown wooden barn", "start_xy": [105, 570], "ang_err_namer_deg": 10.69884716996031, "ang_err_cycle_deg": 10.050172297385823, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ebb8a7e9_seg1", "clip": "ebb8a7e9-dcd3-5926-be6d-d678bdc6a082", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the fork in the road.", "destination": "the fork in the road", "start_xy": [700, 550], "ang_err_namer_deg": 1.1743153154564856, "ang_err_cycle_deg": 3.376318435250039, "confidence": "A", "arrival_ok": true, "duration_s": 5.0, "tier": "L", "id": "ebb8a7e9_seg2", "clip": "ebb8a7e9-dcd3-5926-be6d-d678bdc6a082", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ed/edf2eb90-869b-5b32-8a50-4004e8db03c1.json b/labels/outdoor/ed/edf2eb90-869b-5b32-8a50-4004e8db03c1.json
index 50c1848a763dad7ea5682d31374ed7d24e1a9d2e..cc77206371c8e83704a36612c0531611d6077ac1 100644
--- a/labels/outdoor/ed/edf2eb90-869b-5b32-8a50-4004e8db03c1.json
+++ b/labels/outdoor/ed/edf2eb90-869b-5b32-8a50-4004e8db03c1.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the red warning sign.", "destination": "red warning sign", "start_xy": [555, 639], "ang_err_namer_deg": 1.8840825083887838, "ang_err_cycle_deg": 1.9793276291986641, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "edf2eb90_seg0", "clip": "edf2eb90-869b-5b32-8a50-4004e8db03c1", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 44, "instruction": "Go to the area by the road sign.", "destination": "the area by the road sign", "start_xy": [612, 625], "ang_err_namer_deg": 1.033296862994947, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "edf2eb90_seg1", "clip": "edf2eb90-869b-5b32-8a50-4004e8db03c1", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the red warning sign.", "destination": "red warning sign", "start_xy": [555, 639], "ang_err_namer_deg": 1.8840825083887838, "ang_err_cycle_deg": 1.9793276291986641, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "edf2eb90_seg0", "clip": "edf2eb90-869b-5b32-8a50-4004e8db03c1", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ee/ee698895-b06d-5af0-be51-241d6cce3951.json b/labels/outdoor/ee/ee698895-b06d-5af0-be51-241d6cce3951.json
index 314ff6fe7784516d0845663afad7e42cca536674..ee3a9610d0bd6a629b2ec8cc86b4579d87765f82 100644
--- a/labels/outdoor/ee/ee698895-b06d-5af0-be51-241d6cce3951.json
+++ b/labels/outdoor/ee/ee698895-b06d-5af0-be51-241d6cce3951.json
@@ -1 +1 @@
-[{"t0": 64, "t_end": 74, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [486, 662], "ang_err_namer_deg": 8.082550014840765, "ang_err_cycle_deg": 1.609740540996755, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "ee698895_seg0", "clip": "ee698895-b06d-5af0-be51-241d6cce3951", "source": "spatialvid_v3"}, {"t0": 35, "t_end": 52, "instruction": "Go to the area with the yellow road markings.", "destination": "the area with the yellow road markings", "start_xy": [485, 782], "ang_err_namer_deg": 12.683904383544915, "ang_err_cycle_deg": 20.932906267574438, "confidence": "B", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ee698895_seg1", "clip": "ee698895-b06d-5af0-be51-241d6cce3951", "source": "spatialvid_v3"}, {"t0": 20, "t_end": 33, "instruction": "Go to the end of the stone retaining wall.", "destination": "the end of the stone retaining wall", "start_xy": [133, 591], "ang_err_namer_deg": 4.358565458607503, "ang_err_cycle_deg": 4.659269592451765, "confidence": "B", "arrival_ok": false, "duration_s": 2.6, "tier": "S", "id": "ee698895_seg2", "clip": "ee698895-b06d-5af0-be51-241d6cce3951", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 64, "t_end": 74, "instruction": "Go to the area by the stone retaining wall.", "destination": "the stone retaining wall", "start_xy": [486, 662], "ang_err_namer_deg": 8.082550014840765, "ang_err_cycle_deg": 1.609740540996755, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "ee698895_seg0", "clip": "ee698895-b06d-5af0-be51-241d6cce3951", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ee/ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c.json b/labels/outdoor/ee/ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c.json
index dd14dac7d1299e1d2ba9d6304f727b1596e3dc46..2063904c441e961dc6b37e7e351133bef02a337f 100644
--- a/labels/outdoor/ee/ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c.json
+++ b/labels/outdoor/ee/ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the end of the road where it curves.", "destination": "the end of the road", "start_xy": [450, 700], "ang_err_namer_deg": 0.18825927553939759, "ang_err_cycle_deg": 1.5429749122795142, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "ee8d6cfb_seg0", "clip": "ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the red banner.", "destination": "the red banner", "start_xy": [235, 665], "ang_err_namer_deg": 9.299904692750447, "ang_err_cycle_deg": 9.299904692750447, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "ee8d6cfb_seg1", "clip": "ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [482, 745], "ang_err_namer_deg": 9.55106790570655, "ang_err_cycle_deg": 9.172355188108307, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "ee8d6cfb_seg2", "clip": "ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the end of the guardrail.", "destination": "the end of the guardrail", "start_xy": [482, 745], "ang_err_namer_deg": 9.55106790570655, "ang_err_cycle_deg": 9.172355188108307, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "ee8d6cfb_seg2", "clip": "ee8d6cfb-bf1f-572c-a921-b3ae482f5b2c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ee/ee959074-82f4-5bd0-bab1-2e50a140d7ea.json b/labels/outdoor/ee/ee959074-82f4-5bd0-bab1-2e50a140d7ea.json
index 6dade5caa27ac3f9d6cda56c3e12b31b85d58247..f2b6f448eb76a57a8891a90ae0cf5b3c4754cb89 100644
--- a/labels/outdoor/ee/ee959074-82f4-5bd0-bab1-2e50a140d7ea.json
+++ b/labels/outdoor/ee/ee959074-82f4-5bd0-bab1-2e50a140d7ea.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the building near the road.", "destination": "the building", "start_xy": [460, 650], "ang_err_namer_deg": 3.945030122900364, "ang_err_cycle_deg": 1.7543925710272028, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "ee959074_seg0", "clip": "ee959074-82f4-5bd0-bab1-2e50a140d7ea", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the large white building along the road.", "destination": "the large white building", "start_xy": [673, 555], "ang_err_namer_deg": 9.156955936903662, "ang_err_cycle_deg": 7.200369005545838, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "ee959074_seg1", "clip": "ee959074-82f4-5bd0-bab1-2e50a140d7ea", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 29, "instruction": "Go to the industrial building near the base of the mountain.", "destination": "the industrial building", "start_xy": [451, 571], "ang_err_namer_deg": 1.1396630753042316, "ang_err_cycle_deg": 0.4960532483191538, "confidence": "B", "arrival_ok": false, "duration_s": 4.954949739487396, "tier": "M", "id": "ee959074_seg2", "clip": "ee959074-82f4-5bd0-bab1-2e50a140d7ea", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 52, "t_end": 71, "instruction": "Go to the building near the road.", "destination": "the building", "start_xy": [460, 650], "ang_err_namer_deg": 3.945030122900364, "ang_err_cycle_deg": 1.7543925710272028, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "ee959074_seg0", "clip": "ee959074-82f4-5bd0-bab1-2e50a140d7ea", "source": "spatialvid_v3"}, {"t0": 31, "t_end": 50, "instruction": "Go to the large white building along the road.", "destination": "the large white building", "start_xy": [673, 555], "ang_err_namer_deg": 9.156955936903662, "ang_err_cycle_deg": 7.200369005545838, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "ee959074_seg1", "clip": "ee959074-82f4-5bd0-bab1-2e50a140d7ea", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ef/ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347.json b/labels/outdoor/ef/ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347.json
index b19357f1b09d0f3816caf1f243b6a57a0397cfca..15727949c8d0eda5c97003177d833492dc796e49 100644
--- a/labels/outdoor/ef/ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347.json
+++ b/labels/outdoor/ef/ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the area between the highway and the woods.", "destination": "the area between the highway and the woods", "start_xy": [482, 795], "ang_err_namer_deg": 8.730641132379718, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "ef1a6312_seg0", "clip": "ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the railway bridge.", "destination": "the railway bridge", "start_xy": [451, 709], "ang_err_namer_deg": 11.287477703642868, "ang_err_cycle_deg": 8.100024915541292, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "ef1a6312_seg1", "clip": "ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the railway bridge.", "destination": "the railway bridge", "start_xy": [450, 700], "ang_err_namer_deg": 0.8047884847474515, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "ef1a6312_seg2", "clip": "ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 50, "instruction": "Go to the railway bridge.", "destination": "the railway bridge", "start_xy": [451, 709], "ang_err_namer_deg": 11.287477703642868, "ang_err_cycle_deg": 8.100024915541292, "confidence": "A", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "ef1a6312_seg1", "clip": "ef1a6312-8bcf-5fc6-83c8-bebc8e8c7347", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ef/efdbd844-8f83-5614-8fbe-76dd80c45222.json b/labels/outdoor/ef/efdbd844-8f83-5614-8fbe-76dd80c45222.json
index 5c32cfe6d65b5f2dea113679c0dcae789ac9c1c1..0fe3c9b9c22c203e64055a9aab4e825cdfb32a01 100644
--- a/labels/outdoor/ef/efdbd844-8f83-5614-8fbe-76dd80c45222.json
+++ b/labels/outdoor/ef/efdbd844-8f83-5614-8fbe-76dd80c45222.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall along the road", "start_xy": [380, 745], "ang_err_namer_deg": 9.840791631929102, "ang_err_cycle_deg": 6.074405405087076, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "efdbd844_seg0", "clip": "efdbd844-8f83-5614-8fbe-76dd80c45222", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the end of the concrete barrier.", "destination": "the end of the concrete barrier", "start_xy": [558, 622], "ang_err_namer_deg": 1.477888813789676, "ang_err_cycle_deg": 0.18252694175372844, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "efdbd844_seg1", "clip": "efdbd844-8f83-5614-8fbe-76dd80c45222", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 26, "instruction": "Go to the end of the stone wall.", "destination": "the end of the stone wall", "start_xy": [484, 578], "ang_err_namer_deg": 1.3490482236547057, "ang_err_cycle_deg": 1.2642656860960961, "confidence": "B", "arrival_ok": false, "duration_s": 5.0, "tier": "L", "id": "efdbd844_seg2", "clip": "efdbd844-8f83-5614-8fbe-76dd80c45222", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 38, "t_end": 55, "instruction": "Go to the end of the concrete barrier.", "destination": "the end of the concrete barrier", "start_xy": [558, 622], "ang_err_namer_deg": 1.477888813789676, "ang_err_cycle_deg": 0.18252694175372844, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "efdbd844_seg1", "clip": "efdbd844-8f83-5614-8fbe-76dd80c45222", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f0/f012fdeb-3273-5dfc-ae28-4885f5fb1db3.json b/labels/outdoor/f0/f012fdeb-3273-5dfc-ae28-4885f5fb1db3.json
index 8db23b42a7980fd631058ef351131741bd683d4e..a85abad5f1e4563d164efb94637cdf0b3f21b68c 100644
--- a/labels/outdoor/f0/f012fdeb-3273-5dfc-ae28-4885f5fb1db3.json
+++ b/labels/outdoor/f0/f012fdeb-3273-5dfc-ae28-4885f5fb1db3.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road near the trees", "start_xy": [450, 550], "ang_err_namer_deg": 3.11446480351114, "ang_err_cycle_deg": 5.4054353480314745, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "f012fdeb_seg0", "clip": "f012fdeb-3273-5dfc-ae28-4885f5fb1db3", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the large rock by the edge of the forest road.", "destination": "the large rock by the edge of the forest road", "start_xy": [703, 517], "ang_err_namer_deg": 8.116077737875562, "ang_err_cycle_deg": 6.558865767693076, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f012fdeb_seg1", "clip": "f012fdeb-3273-5dfc-ae28-4885f5fb1db3", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area of the bend in the road surrounded by trees.", "destination": "the bend in the road", "start_xy": [558, 512], "ang_err_namer_deg": 4.750140228668131, "ang_err_cycle_deg": 7.480758885911046, "confidence": "B", "arrival_ok": false, "duration_s": 4.170833333333333, "tier": "M", "id": "f012fdeb_seg2", "clip": "f012fdeb-3273-5dfc-ae28-4885f5fb1db3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 69, "t_end": 89, "instruction": "Go to the end of the road near the trees.", "destination": "the end of the road near the trees", "start_xy": [450, 550], "ang_err_namer_deg": 3.11446480351114, "ang_err_cycle_deg": 5.4054353480314745, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "f012fdeb_seg0", "clip": "f012fdeb-3273-5dfc-ae28-4885f5fb1db3", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the large rock by the edge of the forest road.", "destination": "the large rock by the edge of the forest road", "start_xy": [703, 517], "ang_err_namer_deg": 8.116077737875562, "ang_err_cycle_deg": 6.558865767693076, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f012fdeb_seg1", "clip": "f012fdeb-3273-5dfc-ae28-4885f5fb1db3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f0/f04500e8-4ca4-59bc-a955-6631eeb1273c.json b/labels/outdoor/f0/f04500e8-4ca4-59bc-a955-6631eeb1273c.json
index 1654d25ac474e86cbf65c5306d935e4f88abf70b..2a5852d8d92e6b6dc6097a130a1ad70cafe31b58 100644
--- a/labels/outdoor/f0/f04500e8-4ca4-59bc-a955-6631eeb1273c.json
+++ b/labels/outdoor/f0/f04500e8-4ca4-59bc-a955-6631eeb1273c.json
@@ -1 +1 @@
-[{"t0": 15, "t_end": 50, "instruction": "Go to the area of the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [551, 427], "ang_err_namer_deg": 5.508334855884378, "ang_err_cycle_deg": 5.508334855884378, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f04500e8_seg0", "clip": "f04500e8-4ca4-59bc-a955-6631eeb1273c", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the electricity pylon.", "destination": "the electricity pylon", "start_xy": [487, 387], "ang_err_namer_deg": 4.203884238742149, "ang_err_cycle_deg": 4.203884238742149, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "f04500e8_seg1", "clip": "f04500e8-4ca4-59bc-a955-6631eeb1273c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 15, "t_end": 50, "instruction": "Go to the area of the utility pole on the right side of the tracks.", "destination": "the utility pole on the right side of the tracks", "start_xy": [551, 427], "ang_err_namer_deg": 5.508334855884378, "ang_err_cycle_deg": 5.508334855884378, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f04500e8_seg0", "clip": "f04500e8-4ca4-59bc-a955-6631eeb1273c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f0/f06ea906-cce1-5374-973f-5e20c608ff71.json b/labels/outdoor/f0/f06ea906-cce1-5374-973f-5e20c608ff71.json
index 7be66abe03f548ec546a3757277f616550b0ff85..774e3d834ea8d35fa8e36574e2528ef2aa1b9f75 100644
--- a/labels/outdoor/f0/f06ea906-cce1-5374-973f-5e20c608ff71.json
+++ b/labels/outdoor/f0/f06ea906-cce1-5374-973f-5e20c608ff71.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area by the green tree on the side of the road.", "destination": "the area by the green tree on the side of the road", "start_xy": [607, 427], "ang_err_namer_deg": 7.935103291754442, "ang_err_cycle_deg": 7.721460761250711, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "f06ea906_seg0", "clip": "f06ea906-cce1-5374-973f-5e20c608ff71", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 49, "instruction": "Go to the area of road near the large tree on the right side of the path.", "destination": "the area by the large tree on the right", "start_xy": [580, 500], "ang_err_namer_deg": 11.88544384708408, "ang_err_cycle_deg": 11.231955733867595, "confidence": "B", "arrival_ok": false, "duration_s": 3.336666666666667, "tier": "M", "id": "f06ea906_seg1", "clip": "f06ea906-cce1-5374-973f-5e20c608ff71", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area of the mountain road.", "destination": "the area of the mountain road", "start_xy": [455, 579], "ang_err_namer_deg": 1.683082428660168, "ang_err_cycle_deg": 0.9780164151777773, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "f06ea906_seg2", "clip": "f06ea906-cce1-5374-973f-5e20c608ff71", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 27, "instruction": "Go to the area of the mountain road.", "destination": "the area of the mountain road", "start_xy": [455, 579], "ang_err_namer_deg": 1.683082428660168, "ang_err_cycle_deg": 0.9780164151777773, "confidence": "A", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "f06ea906_seg2", "clip": "f06ea906-cce1-5374-973f-5e20c608ff71", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f0/f08331aa-9899-5187-b69d-416e4ca8610d.json b/labels/outdoor/f0/f08331aa-9899-5187-b69d-416e4ca8610d.json
index 87e82840a5a339bde12afef67155681efb076767..ac70e0abf8e4dff2f046044c64554fc8e4c1734c 100644
--- a/labels/outdoor/f0/f08331aa-9899-5187-b69d-416e4ca8610d.json
+++ b/labels/outdoor/f0/f08331aa-9899-5187-b69d-416e4ca8610d.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area in the distance where the forest trees meet.", "destination": "the area in the distance where the forest trees meet", "start_xy": [490, 510], "ang_err_namer_deg": 2.2373788918177193, "ang_err_cycle_deg": 2.109069470861035, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "f08331aa_seg0", "clip": "f08331aa-9899-5187-b69d-416e4ca8610d", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area in front of the sunlit trees.", "destination": "the area in front of the sunlit trees", "start_xy": [483, 501], "ang_err_namer_deg": 1.2148496772236281, "ang_err_cycle_deg": 1.3430201957414336, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f08331aa_seg1", "clip": "f08331aa-9899-5187-b69d-416e4ca8610d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area in front of the sunlit trees.", "destination": "the area in front of the sunlit trees", "start_xy": [483, 501], "ang_err_namer_deg": 1.2148496772236281, "ang_err_cycle_deg": 1.3430201957414336, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f08331aa_seg1", "clip": "f08331aa-9899-5187-b69d-416e4ca8610d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f0/f0f5d284-18f6-5188-819e-f998c02c4ccb.json b/labels/outdoor/f0/f0f5d284-18f6-5188-819e-f998c02c4ccb.json
index 9b77613e33c89d5e801648eb8d5f06079f9a22c8..abe4ecfc71642cc72bdc0be17791d3e9c82801cc 100644
--- a/labels/outdoor/f0/f0f5d284-18f6-5188-819e-f998c02c4ccb.json
+++ b/labels/outdoor/f0/f0f5d284-18f6-5188-819e-f998c02c4ccb.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the post standing along the path.", "destination": "the post standing along the path", "start_xy": [528, 476], "ang_err_namer_deg": 1.5556507344586226, "ang_err_cycle_deg": 1.39889689694405, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "f0f5d284_seg0", "clip": "f0f5d284-18f6-5188-819e-f998c02c4ccb", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the trail sign post.", "destination": "the trail sign post", "start_xy": [328, 515], "ang_err_namer_deg": 3.808938390143841, "ang_err_cycle_deg": 4.0318445312562385, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f0f5d284_seg1", "clip": "f0f5d284-18f6-5188-819e-f998c02c4ccb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the trail sign post.", "destination": "the trail sign post", "start_xy": [328, 515], "ang_err_namer_deg": 3.808938390143841, "ang_err_cycle_deg": 4.0318445312562385, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f0f5d284_seg1", "clip": "f0f5d284-18f6-5188-819e-f998c02c4ccb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f1/f1538552-821e-596b-be8f-264591cf9da0.json b/labels/outdoor/f1/f1538552-821e-596b-be8f-264591cf9da0.json
index c105deaa113a7730f18a0858df896f58f1154714..9b9f435b7fbfb5f66fbc26386142ade66712a7cd 100644
--- a/labels/outdoor/f1/f1538552-821e-596b-be8f-264591cf9da0.json
+++ b/labels/outdoor/f1/f1538552-821e-596b-be8f-264591cf9da0.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [526, 757], "ang_err_namer_deg": 11.70739772967878, "ang_err_cycle_deg": 15.003671185412701, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f1538552_seg0", "clip": "f1538552-821e-596b-be8f-264591cf9da0", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the intersection with the small guard booth.", "destination": "the small guard booth at the intersection", "start_xy": [759, 745], "ang_err_namer_deg": 13.928931065581347, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f1538552_seg1", "clip": "f1538552-821e-596b-be8f-264591cf9da0", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [526, 757], "ang_err_namer_deg": 11.70739772967878, "ang_err_cycle_deg": 15.003671185412701, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f1538552_seg0", "clip": "f1538552-821e-596b-be8f-264591cf9da0", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f1/f158f822-027f-5725-b2e8-caa0cf5b5ed4.json b/labels/outdoor/f1/f158f822-027f-5725-b2e8-caa0cf5b5ed4.json
index 8b76832bb38bc9d1885fa65b0dcd6353020856cf..98d33d78b8f22453c8d33fd2a79eec5e304b41f0 100644
--- a/labels/outdoor/f1/f158f822-027f-5725-b2e8-caa0cf5b5ed4.json
+++ b/labels/outdoor/f1/f158f822-027f-5725-b2e8-caa0cf5b5ed4.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the area where the road curves alongside the stream and the trees.", "destination": "the area where the road curves alongside the stream and the trees", "start_xy": [654, 482], "ang_err_namer_deg": 13.947411737551393, "ang_err_cycle_deg": 12.838061275436651, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "f158f822_seg0", "clip": "f158f822-027f-5725-b2e8-caa0cf5b5ed4", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 38, "instruction": "Go to the construction vehicle near the tree.", "destination": "the construction vehicle near the tree", "start_xy": [517, 476], "ang_err_namer_deg": 10.395391216745832, "ang_err_cycle_deg": 8.21834867654986, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f158f822_seg1", "clip": "f158f822-027f-5725-b2e8-caa0cf5b5ed4", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 38, "instruction": "Go to the construction vehicle near the tree.", "destination": "the construction vehicle near the tree", "start_xy": [517, 476], "ang_err_namer_deg": 10.395391216745832, "ang_err_cycle_deg": 8.21834867654986, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f158f822_seg1", "clip": "f158f822-027f-5725-b2e8-caa0cf5b5ed4", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f1/f1a95efd-107f-5c9d-8e6f-f79770a82a33.json b/labels/outdoor/f1/f1a95efd-107f-5c9d-8e6f-f79770a82a33.json
index 5b25a6534ed9730ec90fb6e0ec8d37b773076e4e..d8f389caddca0efb848c651031fe53cb2b938e33 100644
--- a/labels/outdoor/f1/f1a95efd-107f-5c9d-8e6f-f79770a82a33.json
+++ b/labels/outdoor/f1/f1a95efd-107f-5c9d-8e6f-f79770a82a33.json
@@ -1 +1 @@
-[{"t0": 51, "t_end": 89, "instruction": "Go to the end of the dirt path.", "destination": "the end of the dirt path", "start_xy": [450, 500], "ang_err_namer_deg": 0.5922744399626176, "ang_err_cycle_deg": 0.15572101232169322, "confidence": "B", "arrival_ok": false, "duration_s": 6.339666666666667, "tier": "L", "id": "f1a95efd_seg0", "clip": "f1a95efd-107f-5c9d-8e6f-f79770a82a33", "source": "spatialvid_v3"}, {"t0": 11, "t_end": 49, "instruction": "Go to the area of tire tracks in the middle of the field.", "destination": "the tire tracks in the middle of the field", "start_xy": [483, 791], "ang_err_namer_deg": 1.9614822579180557, "ang_err_cycle_deg": 1.7415566333785424, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f1a95efd_seg1", "clip": "f1a95efd-107f-5c9d-8e6f-f79770a82a33", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 11, "t_end": 49, "instruction": "Go to the area of tire tracks in the middle of the field.", "destination": "the tire tracks in the middle of the field", "start_xy": [483, 791], "ang_err_namer_deg": 1.9614822579180557, "ang_err_cycle_deg": 1.7415566333785424, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "f1a95efd_seg1", "clip": "f1a95efd-107f-5c9d-8e6f-f79770a82a33", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f1/f1d6f448-59a2-5f93-bdd2-b176039e8a17.json b/labels/outdoor/f1/f1d6f448-59a2-5f93-bdd2-b176039e8a17.json
index 18ca68c6a837026f99e555843d3f07e626b9143e..1f27d69cad3cf95d6376f801d0b74add26abf9d0 100644
--- a/labels/outdoor/f1/f1d6f448-59a2-5f93-bdd2-b176039e8a17.json
+++ b/labels/outdoor/f1/f1d6f448-59a2-5f93-bdd2-b176039e8a17.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area along the road where the guardrail ends near the lake.", "destination": "the end of the guardrail along the lake", "start_xy": [546, 662], "ang_err_namer_deg": 8.616417694873665, "ang_err_cycle_deg": 6.400929287195613, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg0", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}, {"t0": 38, "t_end": 55, "instruction": "Go to the tree on the right side of the road.", "destination": "the tree on the right side of the road", "start_xy": [558, 554], "ang_err_namer_deg": 5.629794465397853, "ang_err_cycle_deg": 2.9795098794311334, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg1", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 36, "instruction": "Go to the area by the road sign.", "destination": "the road sign", "start_xy": [516, 600], "ang_err_namer_deg": 7.258274157231428, "ang_err_cycle_deg": 2.4924185883660424, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg2", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the house on the left.", "destination": "the house on the left", "start_xy": [558, 511], "ang_err_namer_deg": 13.029048389148574, "ang_err_cycle_deg": 12.151164998228682, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg3", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 19, "t_end": 36, "instruction": "Go to the area by the road sign.", "destination": "the road sign", "start_xy": [516, 600], "ang_err_namer_deg": 7.258274157231428, "ang_err_cycle_deg": 2.4924185883660424, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg2", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the house on the left.", "destination": "the house on the left", "start_xy": [558, 511], "ang_err_namer_deg": 13.029048389148574, "ang_err_cycle_deg": 12.151164998228682, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "f1d6f448_seg3", "clip": "f1d6f448-59a2-5f93-bdd2-b176039e8a17", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f2/f24a9c38-c6df-51d2-bcdb-18068103f5b5.json b/labels/outdoor/f2/f24a9c38-c6df-51d2-bcdb-18068103f5b5.json
index 1ef3f663843f6c6ac6adcea2580836ff26b9bdae..f6e21e7dde2ccfd165bf522259f3665578c07f83 100644
--- a/labels/outdoor/f2/f24a9c38-c6df-51d2-bcdb-18068103f5b5.json
+++ b/labels/outdoor/f2/f24a9c38-c6df-51d2-bcdb-18068103f5b5.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area of the curve on the mountain road.", "destination": "the curve on the mountain road", "start_xy": [451, 743], "ang_err_namer_deg": 1.1625284533519182, "ang_err_cycle_deg": 7.152601649294845, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "f24a9c38_seg0", "clip": "f24a9c38-c6df-51d2-bcdb-18068103f5b5", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the turnout by the mountain road.", "destination": "the turnout by the mountain road", "start_xy": [120, 745], "ang_err_namer_deg": 8.45330720083913, "ang_err_cycle_deg": 8.596374143745592, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "f24a9c38_seg1", "clip": "f24a9c38-c6df-51d2-bcdb-18068103f5b5", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 23, "instruction": "Go to the area of the mountain road where the car stops.", "destination": "the spot on the mountain road where the car stops", "start_xy": [716, 583], "ang_err_namer_deg": 9.144190507675933, "ang_err_cycle_deg": 8.957486132213592, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "f24a9c38_seg2", "clip": "f24a9c38-c6df-51d2-bcdb-18068103f5b5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 23, "instruction": "Go to the area of the mountain road where the car stops.", "destination": "the spot on the mountain road where the car stops", "start_xy": [716, 583], "ang_err_namer_deg": 9.144190507675933, "ang_err_cycle_deg": 8.957486132213592, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883333333333, "tier": "M", "id": "f24a9c38_seg2", "clip": "f24a9c38-c6df-51d2-bcdb-18068103f5b5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f3/f32b2a10-cf92-539e-8c33-9b87f5ca4a1b.json b/labels/outdoor/f3/f32b2a10-cf92-539e-8c33-9b87f5ca4a1b.json
index cb4f20ce0fd3e97c0d0216ec5cf2daef63b98607..97f3b96b1166a462833d48ebac48842252575890 100644
--- a/labels/outdoor/f3/f32b2a10-cf92-539e-8c33-9b87f5ca4a1b.json
+++ b/labels/outdoor/f3/f32b2a10-cf92-539e-8c33-9b87f5ca4a1b.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the low stone wall and covered walkway.", "destination": "the area with the low stone wall and covered walkway", "start_xy": [485, 703], "ang_err_namer_deg": 11.824080725938625, "ang_err_cycle_deg": 4.798556134655148, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f32b2a10_seg0", "clip": "f32b2a10-cf92-539e-8c33-9b87f5ca4a1b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the red banner.", "destination": "red banner", "start_xy": [526, 665], "ang_err_namer_deg": 2.0904985568865575, "ang_err_cycle_deg": 2.3210987592877825, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "f32b2a10_seg1", "clip": "f32b2a10-cf92-539e-8c33-9b87f5ca4a1b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area by the red vehicle parked on the side of the street.", "destination": "the area by the red vehicle", "start_xy": [454, 622], "ang_err_namer_deg": 5.441607507450378, "ang_err_cycle_deg": 15.86239991737339, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "f32b2a10_seg2", "clip": "f32b2a10-cf92-539e-8c33-9b87f5ca4a1b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the low stone wall and covered walkway.", "destination": "the area with the low stone wall and covered walkway", "start_xy": [485, 703], "ang_err_namer_deg": 11.824080725938625, "ang_err_cycle_deg": 4.798556134655148, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f32b2a10_seg0", "clip": "f32b2a10-cf92-539e-8c33-9b87f5ca4a1b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f3/f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf.json b/labels/outdoor/f3/f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf.json
index 30e245d178bcfe837574423a8796bdf1128b2131..85c9cd5cdcf80277d774aad2f6309a2e0ab9c67b 100644
--- a/labels/outdoor/f3/f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf.json
+++ b/labels/outdoor/f3/f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the small waterfall cascading down the rocks.", "destination": "the area with the small waterfall cascading down the rocks", "start_xy": [444, 718], "ang_err_namer_deg": 6.316404805163871, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f3b7c30c_seg0", "clip": "f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the signal pole.", "destination": "the signal pole", "start_xy": [752, 257], "ang_err_namer_deg": 10.112995998445392, "ang_err_cycle_deg": 10.03766612135794, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f3b7c30c_seg1", "clip": "f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the signal pole.", "destination": "the signal pole", "start_xy": [752, 257], "ang_err_namer_deg": 10.112995998445392, "ang_err_cycle_deg": 10.03766612135794, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f3b7c30c_seg1", "clip": "f3b7c30c-7241-5a72-9f8a-7ab1e9add2bf", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f4/f487979b-10fe-52a3-87a2-c853da189d2c.json b/labels/outdoor/f4/f487979b-10fe-52a3-87a2-c853da189d2c.json
index 31f4d7cbf270c8ab95f919e9810ef0fa1198eb42..a3afbce867942f57c66f0eca68aca05ce81927d4 100644
--- a/labels/outdoor/f4/f487979b-10fe-52a3-87a2-c853da189d2c.json
+++ b/labels/outdoor/f4/f487979b-10fe-52a3-87a2-c853da189d2c.json
@@ -1 +1 @@
-[{"t0": 21, "t_end": 56, "instruction": "Go to the area by the building with flowers.", "destination": "the building with flowers", "start_xy": [863, 272], "ang_err_namer_deg": 11.102325437835757, "ang_err_cycle_deg": 11.102325437835757, "confidence": "B", "arrival_ok": false, "duration_s": 6.4221063266130844, "tier": "L", "id": "f487979b_seg0", "clip": "f487979b-10fe-52a3-87a2-c853da189d2c", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 19, "instruction": "Go to the area by the building with the flower boxes.", "destination": "the building with the flower boxes", "start_xy": [737, 453], "ang_err_namer_deg": 13.747118833836574, "ang_err_cycle_deg": 11.371524194197729, "confidence": "A", "arrival_ok": true, "duration_s": 1.8348875218894527, "tier": "S", "id": "f487979b_seg1", "clip": "f487979b-10fe-52a3-87a2-c853da189d2c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 19, "instruction": "Go to the area by the building with the flower boxes.", "destination": "the building with the flower boxes", "start_xy": [737, 453], "ang_err_namer_deg": 13.747118833836574, "ang_err_cycle_deg": 11.371524194197729, "confidence": "A", "arrival_ok": true, "duration_s": 1.8348875218894527, "tier": "S", "id": "f487979b_seg1", "clip": "f487979b-10fe-52a3-87a2-c853da189d2c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f4/f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5.json b/labels/outdoor/f4/f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5.json
index 7ee1eec97af4fe912b61386d09e4d47ce2f3f5a1..350510a96d3e3fe4ee3e9a1fd6d6b56095bd4520 100644
--- a/labels/outdoor/f4/f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5.json
+++ b/labels/outdoor/f4/f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the red car parked by the side of the road.", "destination": "the red car", "start_xy": [450, 650], "ang_err_namer_deg": 11.194754739098459, "ang_err_cycle_deg": 11.194754739098459, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "f4f5c9fb_seg0", "clip": "f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area by the red vehicle parked on the right side of the road.", "destination": "the area by the red vehicle", "start_xy": [583, 622], "ang_err_namer_deg": 2.4422039208291264, "ang_err_cycle_deg": 0.5437473166559657, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f4f5c9fb_seg1", "clip": "f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the area by the red vehicle parked on the right side of the road.", "destination": "the area by the red vehicle", "start_xy": [583, 622], "ang_err_namer_deg": 2.4422039208291264, "ang_err_cycle_deg": 0.5437473166559657, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f4f5c9fb_seg1", "clip": "f4f5c9fb-a51e-5db7-a2ab-e0d2668452c5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f5/f51a25f2-0b9c-50dd-8b0f-0d904356e38d.json b/labels/outdoor/f5/f51a25f2-0b9c-50dd-8b0f-0d904356e38d.json
index 6262ea25c2ab280ac79c7b317093d1aebc80b56a..bdbf7fa82eba5342bff8719291b330c0721c5434 100644
--- a/labels/outdoor/f5/f51a25f2-0b9c-50dd-8b0f-0d904356e38d.json
+++ b/labels/outdoor/f5/f51a25f2-0b9c-50dd-8b0f-0d904356e38d.json
@@ -1 +1 @@
-[{"t0": 52, "t_end": 71, "instruction": "Go to the metal staircase along the wall.", "destination": "the metal staircase along the wall", "start_xy": [625, 578], "ang_err_namer_deg": 13.221517632747963, "ang_err_cycle_deg": 12.843551761083624, "confidence": "B", "arrival_ok": false, "duration_s": 3.4868164833429818, "tier": "M", "id": "f51a25f2_seg0", "clip": "f51a25f2-0b9c-50dd-8b0f-0d904356e38d", "source": "spatialvid_v3"}, {"t0": 15, "t_end": 50, "instruction": "Go to the area by the green field at the end of the road.", "destination": "the area by the green field", "start_xy": [487, 786], "ang_err_namer_deg": 9.492158842536815, "ang_err_cycle_deg": 1.3730236162387601, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "f51a25f2_seg1", "clip": "f51a25f2-0b9c-50dd-8b0f-0d904356e38d", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [526, 551], "ang_err_namer_deg": 7.922506880362574, "ang_err_cycle_deg": 7.922506880362574, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "f51a25f2_seg2", "clip": "f51a25f2-0b9c-50dd-8b0f-0d904356e38d", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 3, "t_end": 13, "instruction": "Go to the utility pole on the side of the road.", "destination": "the utility pole", "start_xy": [526, 551], "ang_err_namer_deg": 7.922506880362574, "ang_err_cycle_deg": 7.922506880362574, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "f51a25f2_seg2", "clip": "f51a25f2-0b9c-50dd-8b0f-0d904356e38d", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f5/f5663db6-5336-5b44-b416-4c0c66fea84c.json b/labels/outdoor/f5/f5663db6-5336-5b44-b416-4c0c66fea84c.json
index c5ccea093b45ab8a06232b0ea970b0870e63bddd..d19717c91d3950c20406d768c3bef353a0ace990 100644
--- a/labels/outdoor/f5/f5663db6-5336-5b44-b416-4c0c66fea84c.json
+++ b/labels/outdoor/f5/f5663db6-5336-5b44-b416-4c0c66fea84c.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the bend in the road where the trees are.", "destination": "the bend in the road", "start_xy": [490, 780], "ang_err_namer_deg": 9.533943442663949, "ang_err_cycle_deg": 0.04615723316945654, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "f5663db6_seg0", "clip": "f5663db6-5336-5b44-b416-4c0c66fea84c", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 30, "instruction": "Go to the area with the fall foliage along the curve in the road.", "destination": "the area with the fall foliage along the curve in the road", "start_xy": [485, 707], "ang_err_namer_deg": 9.067216858133019, "ang_err_cycle_deg": 8.770363744475066, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "f5663db6_seg1", "clip": "f5663db6-5336-5b44-b416-4c0c66fea84c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 30, "instruction": "Go to the area with the fall foliage along the curve in the road.", "destination": "the area with the fall foliage along the curve in the road", "start_xy": [485, 707], "ang_err_namer_deg": 9.067216858133019, "ang_err_cycle_deg": 8.770363744475066, "confidence": "A", "arrival_ok": true, "duration_s": 5.6, "tier": "L", "id": "f5663db6_seg1", "clip": "f5663db6-5336-5b44-b416-4c0c66fea84c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f5/f5be0351-7019-5f0f-b2db-b23839b637ef.json b/labels/outdoor/f5/f5be0351-7019-5f0f-b2db-b23839b637ef.json
index bf5890e72d3ff866cea074ec3784e63e8e4c130a..03f8bc1a673be244e1819568d5838b7b66f4d286 100644
--- a/labels/outdoor/f5/f5be0351-7019-5f0f-b2db-b23839b637ef.json
+++ b/labels/outdoor/f5/f5be0351-7019-5f0f-b2db-b23839b637ef.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow road warning sign.", "destination": "yellow road warning sign", "start_xy": [583, 538], "ang_err_namer_deg": 6.876931264046767, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f5be0351_seg0", "clip": "f5be0351-7019-5f0f-b2db-b23839b637ef", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the red sign on the side of the road.", "destination": "the red sign on the side of the road", "start_xy": [352, 622], "ang_err_namer_deg": 2.3884057242754997, "ang_err_cycle_deg": 2.1002161289335786, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f5be0351_seg1", "clip": "f5be0351-7019-5f0f-b2db-b23839b637ef", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the red sign on the side of the road.", "destination": "the red sign on the side of the road", "start_xy": [352, 622], "ang_err_namer_deg": 2.3884057242754997, "ang_err_cycle_deg": 2.1002161289335786, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f5be0351_seg1", "clip": "f5be0351-7019-5f0f-b2db-b23839b637ef", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f6/f6e5be6a-f80a-56be-b968-3c7347bda8a3.json b/labels/outdoor/f6/f6e5be6a-f80a-56be-b968-3c7347bda8a3.json
index 6b79ac14242ef331fa714b5b33ad00b5922b8557..4d9480be071f9194e9b0df7e5a1942d936e23ba9 100644
--- a/labels/outdoor/f6/f6e5be6a-f80a-56be-b968-3c7347bda8a3.json
+++ b/labels/outdoor/f6/f6e5be6a-f80a-56be-b968-3c7347bda8a3.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the milestone marker.", "destination": "milestone marker", "start_xy": [630, 639], "ang_err_namer_deg": 0.11711326098547892, "ang_err_cycle_deg": 1.8450343836783563, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f6e5be6a_seg0", "clip": "f6e5be6a-f80a-56be-b968-3c7347bda8a3", "source": "spatialvid_v3"}, {"t0": 34, "t_end": 44, "instruction": "Go to the brown vehicle parked on the side of the road.", "destination": "the brown vehicle", "start_xy": [968, 535], "ang_err_namer_deg": 6.921524279564767, "ang_err_cycle_deg": 6.921524279564767, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "f6e5be6a_seg1", "clip": "f6e5be6a-f80a-56be-b968-3c7347bda8a3", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 32, "instruction": "Go to the Kobro 1 sign.", "destination": "the Kobro 1 sign", "start_xy": [498, 484], "ang_err_namer_deg": 7.795851394999024, "ang_err_cycle_deg": 7.795851394999024, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016666666666, "tier": "L", "id": "f6e5be6a_seg2", "clip": "f6e5be6a-f80a-56be-b968-3c7347bda8a3", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 46, "t_end": 81, "instruction": "Go to the milestone marker.", "destination": "milestone marker", "start_xy": [630, 639], "ang_err_namer_deg": 0.11711326098547892, "ang_err_cycle_deg": 1.8450343836783563, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f6e5be6a_seg0", "clip": "f6e5be6a-f80a-56be-b968-3c7347bda8a3", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 32, "instruction": "Go to the Kobro 1 sign.", "destination": "the Kobro 1 sign", "start_xy": [498, 484], "ang_err_namer_deg": 7.795851394999024, "ang_err_cycle_deg": 7.795851394999024, "confidence": "A", "arrival_ok": true, "duration_s": 5.689016666666666, "tier": "L", "id": "f6e5be6a_seg2", "clip": "f6e5be6a-f80a-56be-b968-3c7347bda8a3", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f7/f72e0112-8eba-5e6d-8905-2b9b09ff6efb.json b/labels/outdoor/f7/f72e0112-8eba-5e6d-8905-2b9b09ff6efb.json
index 1ac1bcc3a4ecc6575ce84206cc696e871a6ac465..619aca02d609fda4a681cf85b21647d2969f08e4 100644
--- a/labels/outdoor/f7/f72e0112-8eba-5e6d-8905-2b9b09ff6efb.json
+++ b/labels/outdoor/f7/f72e0112-8eba-5e6d-8905-2b9b09ff6efb.json
@@ -1 +1 @@
-[{"t0": 21, "t_end": 56, "instruction": "Go to the area with the white car parked on the right.", "destination": "the area with the white car parked on the right", "start_xy": [930, 700], "ang_err_namer_deg": 5.3372702203316456, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "f72e0112_seg0", "clip": "f72e0112-8eba-5e6d-8905-2b9b09ff6efb", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 19, "instruction": "Go to the area of the road where the yellow lines end.", "destination": "the area of the road where the yellow lines end", "start_xy": [402, 757], "ang_err_namer_deg": 12.577996502343495, "ang_err_cycle_deg": 5.2762533915797105, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "f72e0112_seg1", "clip": "f72e0112-8eba-5e6d-8905-2b9b09ff6efb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 19, "instruction": "Go to the area of the road where the yellow lines end.", "destination": "the area of the road where the yellow lines end", "start_xy": [402, 757], "ang_err_namer_deg": 12.577996502343495, "ang_err_cycle_deg": 5.2762533915797105, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "f72e0112_seg1", "clip": "f72e0112-8eba-5e6d-8905-2b9b09ff6efb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f7/f7cb28f7-c671-5e49-9433-06d7f1909c1a.json b/labels/outdoor/f7/f7cb28f7-c671-5e49-9433-06d7f1909c1a.json
index b04dca1ae0b0db5da0c860f4615a0c020230053d..fd66d475e546012eaa5bb005272440f0f48b80b3 100644
--- a/labels/outdoor/f7/f7cb28f7-c671-5e49-9433-06d7f1909c1a.json
+++ b/labels/outdoor/f7/f7cb28f7-c671-5e49-9433-06d7f1909c1a.json
@@ -1 +1 @@
-[{"t0": 35, "t_end": 54, "instruction": "Go to the small shed beside the tracks.", "destination": "small shed", "start_xy": [461, 579], "ang_err_namer_deg": 9.53386860257944, "ang_err_cycle_deg": 9.86360730881848, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "f7cb28f7_seg0", "clip": "f7cb28f7-c671-5e49-9433-06d7f1909c1a", "source": "spatialvid_v3"}, {"t0": 19, "t_end": 33, "instruction": "Go to the white container near the tracks.", "destination": "white container", "start_xy": [444, 554], "ang_err_namer_deg": 9.086687964794905, "ang_err_cycle_deg": 9.086687964794905, "confidence": "B", "arrival_ok": false, "duration_s": 2.5692333333333335, "tier": "S", "id": "f7cb28f7_seg1", "clip": "f7cb28f7-c671-5e49-9433-06d7f1909c1a", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 17, "instruction": "Go to the brown hut near the tracks.", "destination": "the brown hut", "start_xy": [378, 512], "ang_err_namer_deg": 11.095332996951356, "ang_err_cycle_deg": 10.99051250087793, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "f7cb28f7_seg2", "clip": "f7cb28f7-c671-5e49-9433-06d7f1909c1a", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 35, "t_end": 54, "instruction": "Go to the small shed beside the tracks.", "destination": "small shed", "start_xy": [461, 579], "ang_err_namer_deg": 9.53386860257944, "ang_err_cycle_deg": 9.86360730881848, "confidence": "A", "arrival_ok": true, "duration_s": 3.486816666666667, "tier": "M", "id": "f7cb28f7_seg0", "clip": "f7cb28f7-c671-5e49-9433-06d7f1909c1a", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 17, "instruction": "Go to the brown hut near the tracks.", "destination": "the brown hut", "start_xy": [378, 512], "ang_err_namer_deg": 11.095332996951356, "ang_err_cycle_deg": 10.99051250087793, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692333333333335, "tier": "S", "id": "f7cb28f7_seg2", "clip": "f7cb28f7-c671-5e49-9433-06d7f1909c1a", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f8/f896ade7-1318-5621-9b88-379fa300e3d5.json b/labels/outdoor/f8/f896ade7-1318-5621-9b88-379fa300e3d5.json
index 6b10385a2e87a65a15324c4e0b16f3e7f336075d..ee833205e69c784d422c781db49be5a565758ced 100644
--- a/labels/outdoor/f8/f896ade7-1318-5621-9b88-379fa300e3d5.json
+++ b/labels/outdoor/f8/f896ade7-1318-5621-9b88-379fa300e3d5.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the white and red road barrier.", "destination": "the white and red road barrier", "start_xy": [450, 620], "ang_err_namer_deg": 7.4339078838983825, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f896ade7_seg0", "clip": "f896ade7-1318-5621-9b88-379fa300e3d5", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [487, 780], "ang_err_namer_deg": 6.566183998400697, "ang_err_cycle_deg": 4.058731662206659, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f896ade7_seg1", "clip": "f896ade7-1318-5621-9b88-379fa300e3d5", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the stone wall along the road.", "destination": "the stone wall", "start_xy": [487, 780], "ang_err_namer_deg": 6.566183998400697, "ang_err_cycle_deg": 4.058731662206659, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "f896ade7_seg1", "clip": "f896ade7-1318-5621-9b88-379fa300e3d5", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/f9/f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6.json b/labels/outdoor/f9/f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6.json
index 18e2d9168d1e18abd48371d61eb2c55200b8f1a5..394c8a46af4d04a63c07f194afc677123ae10f98 100644
--- a/labels/outdoor/f9/f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6.json
+++ b/labels/outdoor/f9/f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the bend in the road ahead.", "destination": "the bend in the road", "start_xy": [511, 662], "ang_err_namer_deg": 3.394494073457813, "ang_err_cycle_deg": 3.950847300986713, "confidence": "B", "arrival_ok": false, "duration_s": 3.486816666666667, "tier": "M", "id": "f95a9e4c_seg0", "clip": "f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the area of the road where the tree line ends and the rock bank starts to flatten.", "destination": "the area where the road curves and the tree line ends", "start_xy": [498, 625], "ang_err_namer_deg": 4.360485649111033, "ang_err_cycle_deg": 2.6658112313801374, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f95a9e4c_seg1", "clip": "f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6", "source": "spatialvid_v3"}, {"t0": 3, "t_end": 13, "instruction": "Go to the area with the marker pole on the right side of the road.", "destination": "the marker pole on the right side of the road", "start_xy": [692, 677], "ang_err_namer_deg": 12.16741348136622, "ang_err_cycle_deg": 12.370759258359252, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351666666666666, "tier": "S", "id": "f95a9e4c_seg2", "clip": "f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 25, "t_end": 60, "instruction": "Go to the area of the road where the tree line ends and the rock bank starts to flatten.", "destination": "the area where the road curves and the tree line ends", "start_xy": [498, 625], "ang_err_namer_deg": 4.360485649111033, "ang_err_cycle_deg": 2.6658112313801374, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "f95a9e4c_seg1", "clip": "f95a9e4c-6bb8-5fb9-b1cf-c53004aadae6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fb/fb1883ee-c56c-59b4-9407-965d1991face.json b/labels/outdoor/fb/fb1883ee-c56c-59b4-9407-965d1991face.json
index f49effe12f04319fab4ba782e2cca4fee93ba8db..4553401b611813dca34401b291488c71147f79f5 100644
--- a/labels/outdoor/fb/fb1883ee-c56c-59b4-9407-965d1991face.json
+++ b/labels/outdoor/fb/fb1883ee-c56c-59b4-9407-965d1991face.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the yellow sign with '151 5' written on it.", "destination": "the yellow sign with '151 5' written on it", "start_xy": [586, 464], "ang_err_namer_deg": 3.10489931366922, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fb1883ee_seg0", "clip": "fb1883ee-c56c-59b4-9407-965d1991face", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area with the green signal light.", "destination": "the area with the green signal light", "start_xy": [472, 454], "ang_err_namer_deg": 4.382808861627507, "ang_err_cycle_deg": 3.550226000947941, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "fb1883ee_seg1", "clip": "fb1883ee-c56c-59b4-9407-965d1991face", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [483, 328], "ang_err_namer_deg": 3.578452057395795, "ang_err_cycle_deg": 4.294565547107071, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "fb1883ee_seg2", "clip": "fb1883ee-c56c-59b4-9407-965d1991face", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 11, "instruction": "Go to the area by the electrical pole.", "destination": "the electrical pole", "start_xy": [483, 328], "ang_err_namer_deg": 3.578452057395795, "ang_err_cycle_deg": 4.294565547107071, "confidence": "A", "arrival_ok": true, "duration_s": 2.0, "tier": "S", "id": "fb1883ee_seg2", "clip": "fb1883ee-c56c-59b4-9407-965d1991face", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fb/fb8e981f-55c6-535b-a644-ebc069b1dcff.json b/labels/outdoor/fb/fb8e981f-55c6-535b-a644-ebc069b1dcff.json
index 007373ab8ae909c3eddc75cd0ee26e16307357b3..15018b335bcb7d09ea4195667ff573209678054a 100644
--- a/labels/outdoor/fb/fb8e981f-55c6-535b-a644-ebc069b1dcff.json
+++ b/labels/outdoor/fb/fb8e981f-55c6-535b-a644-ebc069b1dcff.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the rock formation alongside the tracks.", "destination": "the rock formation", "start_xy": [750, 450], "ang_err_namer_deg": 10.861112343701091, "ang_err_cycle_deg": 17.10213889539289, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fb8e981f_seg0", "clip": "fb8e981f-55c6-535b-a644-ebc069b1dcff", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the railway tracks curving alongside the rock cliff.", "destination": "the railway tracks along the cliff", "start_xy": [483, 745], "ang_err_namer_deg": 0.9020228206034879, "ang_err_cycle_deg": 1.5747051252722353, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fb8e981f_seg1", "clip": "fb8e981f-55c6-535b-a644-ebc069b1dcff", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 8, "t_end": 40, "instruction": "Go to the railway tracks curving alongside the rock cliff.", "destination": "the railway tracks along the cliff", "start_xy": [483, 745], "ang_err_namer_deg": 0.9020228206034879, "ang_err_cycle_deg": 1.5747051252722353, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fb8e981f_seg1", "clip": "fb8e981f-55c6-535b-a644-ebc069b1dcff", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fb/fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb.json b/labels/outdoor/fb/fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb.json
index 4f72d3055051e939b944636bcd472bf98fb3d751..a533951c7a2c07e07fac7c1cce78a11fe9a2a877 100644
--- a/labels/outdoor/fb/fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb.json
+++ b/labels/outdoor/fb/fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the area behind the red truck.", "destination": "the area behind the red truck", "start_xy": [381, 627], "ang_err_namer_deg": 0.5157317112072568, "ang_err_cycle_deg": 0.5157317112072568, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "fb9eb4fe_seg0", "clip": "fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the road sign by the utility pole.", "destination": "road sign", "start_xy": [490, 648], "ang_err_namer_deg": 1.3989499712586617, "ang_err_cycle_deg": 2.430604673880175, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "fb9eb4fe_seg1", "clip": "fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the road sign by the utility pole.", "destination": "road sign", "start_xy": [490, 648], "ang_err_namer_deg": 1.3989499712586617, "ang_err_cycle_deg": 2.430604673880175, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "fb9eb4fe_seg1", "clip": "fb9eb4fe-f3f8-5506-af2c-1e79e26e64bb", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fb/fbc5ea21-211d-5881-9bab-5de00e42d658.json b/labels/outdoor/fb/fbc5ea21-211d-5881-9bab-5de00e42d658.json
index 7736f0f1b8b6ebd1d3230b6311cfe6679aee51f5..49a53045e6f67727adbb6dd9c64bedb62de4a7fd 100644
--- a/labels/outdoor/fb/fbc5ea21-211d-5881-9bab-5de00e42d658.json
+++ b/labels/outdoor/fb/fbc5ea21-211d-5881-9bab-5de00e42d658.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 61, "instruction": "Go to the area along the stone wall.", "destination": "the stone wall", "start_xy": [930, 700], "ang_err_namer_deg": 4.7815557781394125, "ang_err_cycle_deg": 6.147379242856346, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "fbc5ea21_seg0", "clip": "fbc5ea21-211d-5881-9bab-5de00e42d658", "source": "spatialvid_v3"}, {"t0": 5, "t_end": 40, "instruction": "Go to the utility pole.", "destination": "the utility pole", "start_xy": [688, 444], "ang_err_namer_deg": 2.712283162999473, "ang_err_cycle_deg": 2.85709704407576, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "fbc5ea21_seg1", "clip": "fbc5ea21-211d-5881-9bab-5de00e42d658", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 61, "instruction": "Go to the area along the stone wall.", "destination": "the stone wall", "start_xy": [930, 700], "ang_err_namer_deg": 4.7815557781394125, "ang_err_cycle_deg": 6.147379242856346, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "fbc5ea21_seg0", "clip": "fbc5ea21-211d-5881-9bab-5de00e42d658", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fc/fc9b30db-9be2-5b61-a9ce-f1a16ff97120.json b/labels/outdoor/fc/fc9b30db-9be2-5b61-a9ce-f1a16ff97120.json
index 576acb7b7799a07a95e68368f1817c30e0f40ec2..666098ec54317d1ac9cc11ae61807ba7be5dde40 100644
--- a/labels/outdoor/fc/fc9b30db-9be2-5b61-a9ce-f1a16ff97120.json
+++ b/labels/outdoor/fc/fc9b30db-9be2-5b61-a9ce-f1a16ff97120.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the house.", "destination": "the house", "start_xy": [759, 622], "ang_err_namer_deg": 4.213814108865726, "ang_err_cycle_deg": 5.803492589140661, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "fc9b30db_seg0", "clip": "fc9b30db-9be2-5b61-a9ce-f1a16ff97120", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area by the green bushes.", "destination": "the area by the green bushes", "start_xy": [930, 558], "ang_err_namer_deg": 1.9217346100509507, "ang_err_cycle_deg": 3.0591210543346508, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "fc9b30db_seg1", "clip": "fc9b30db-9be2-5b61-a9ce-f1a16ff97120", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the street lamp by the grassy hill.", "destination": "the street lamp", "start_xy": [541, 559], "ang_err_namer_deg": 8.995246200833018, "ang_err_cycle_deg": 9.25236771435587, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "fc9b30db_seg2", "clip": "fc9b30db-9be2-5b61-a9ce-f1a16ff97120", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 21, "instruction": "Go to the street lamp by the grassy hill.", "destination": "the street lamp", "start_xy": [541, 559], "ang_err_namer_deg": 8.995246200833018, "ang_err_cycle_deg": 9.25236771435587, "confidence": "A", "arrival_ok": true, "duration_s": 4.2, "tier": "M", "id": "fc9b30db_seg2", "clip": "fc9b30db-9be2-5b61-a9ce-f1a16ff97120", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fc/fcba697c-d69f-5b6d-bde0-6f3a1e56281c.json b/labels/outdoor/fc/fcba697c-d69f-5b6d-bde0-6f3a1e56281c.json
index ac3fdcf63f6d326264c5eda8bbf0bf27c640ff83..8be812e0aa55fa2c233563860a1f8b9613079033 100644
--- a/labels/outdoor/fc/fcba697c-d69f-5b6d-bde0-6f3a1e56281c.json
+++ b/labels/outdoor/fc/fcba697c-d69f-5b6d-bde0-6f3a1e56281c.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the overhead railway catenary pole.", "destination": "the overhead railway catenary pole", "start_xy": [517, 427], "ang_err_namer_deg": 11.973925281817383, "ang_err_cycle_deg": 11.544280678579572, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fcba697c_seg0", "clip": "fcba697c-d69f-5b6d-bde0-6f3a1e56281c", "source": "spatialvid_v3"}, {"t0": 8, "t_end": 40, "instruction": "Go to the area where the train tracks curve along the rock face.", "destination": "the curved section of tracks by the rock face", "start_xy": [490, 700], "ang_err_namer_deg": 0.9010498757273124, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fcba697c_seg1", "clip": "fcba697c-d69f-5b6d-bde0-6f3a1e56281c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 42, "t_end": 74, "instruction": "Go to the overhead railway catenary pole.", "destination": "the overhead railway catenary pole", "start_xy": [517, 427], "ang_err_namer_deg": 11.973925281817383, "ang_err_cycle_deg": 11.544280678579572, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fcba697c_seg0", "clip": "fcba697c-d69f-5b6d-bde0-6f3a1e56281c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fc/fcbe3bf2-483c-5012-971b-760d4eb5efe6.json b/labels/outdoor/fc/fcbe3bf2-483c-5012-971b-760d4eb5efe6.json
index f44999c8e5e81fde9ae54d8eea404a661ee25712..9292a7af3175f9498642acdc5532a2534853abe8 100644
--- a/labels/outdoor/fc/fcbe3bf2-483c-5012-971b-760d4eb5efe6.json
+++ b/labels/outdoor/fc/fcbe3bf2-483c-5012-971b-760d4eb5efe6.json
@@ -1 +1 @@
-[{"t0": 26, "t_end": 61, "instruction": "Go to the motorcycle.", "destination": "the motorcycle", "start_xy": [781, 571], "ang_err_namer_deg": 8.816305916355267, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.423082995631809, "tier": "L", "id": "fcbe3bf2_seg0", "clip": "fcbe3bf2-483c-5012-971b-760d4eb5efe6", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 24, "instruction": "Go to the road sign on the left curve.", "destination": "the road sign on the left curve", "start_xy": [574, 577], "ang_err_namer_deg": 1.3569375608732401, "ang_err_cycle_deg": 1.2792459046341413, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "fcbe3bf2_seg1", "clip": "fcbe3bf2-483c-5012-971b-760d4eb5efe6", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 1, "t_end": 24, "instruction": "Go to the road sign on the left curve.", "destination": "the road sign on the left curve", "start_xy": [574, 577], "ang_err_namer_deg": 1.3569375608732401, "ang_err_cycle_deg": 1.2792459046341413, "confidence": "A", "arrival_ok": true, "duration_s": 4.220883111415189, "tier": "M", "id": "fcbe3bf2_seg1", "clip": "fcbe3bf2-483c-5012-971b-760d4eb5efe6", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fe/fe41fe1d-c120-5d90-a90b-cfbb3a857f0c.json b/labels/outdoor/fe/fe41fe1d-c120-5d90-a90b-cfbb3a857f0c.json
index 3925127362ac53f0474ce43e723b0e8c611660b7..a8205cacbea7696bd8b6f6fff45ce654b5f357a7 100644
--- a/labels/outdoor/fe/fe41fe1d-c120-5d90-a90b-cfbb3a857f0c.json
+++ b/labels/outdoor/fe/fe41fe1d-c120-5d90-a90b-cfbb3a857f0c.json
@@ -1 +1 @@
-[{"t0": 69, "t_end": 89, "instruction": "Go to the information sign.", "destination": "information sign", "start_xy": [348, 501], "ang_err_namer_deg": 11.342090137993454, "ang_err_cycle_deg": 11.107174646845557, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "fe41fe1d_seg0", "clip": "fe41fe1d-c120-5d90-a90b-cfbb3a857f0c", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the bench along the boardwalk.", "destination": "the bench", "start_xy": [484, 558], "ang_err_namer_deg": 8.293318088607164, "ang_err_cycle_deg": 3.484230223853881, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "fe41fe1d_seg1", "clip": "fe41fe1d-c120-5d90-a90b-cfbb3a857f0c", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 27, "instruction": "Go to the area by the ocean railing.", "destination": "the ocean railing", "start_xy": [482, 622], "ang_err_namer_deg": 12.28460053068728, "ang_err_cycle_deg": 17.61446299882693, "confidence": "B", "arrival_ok": true, "duration_s": 4.170833333333333, "tier": "M", "id": "fe41fe1d_seg2", "clip": "fe41fe1d-c120-5d90-a90b-cfbb3a857f0c", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 69, "t_end": 89, "instruction": "Go to the information sign.", "destination": "information sign", "start_xy": [348, 501], "ang_err_namer_deg": 11.342090137993454, "ang_err_cycle_deg": 11.107174646845557, "confidence": "A", "arrival_ok": true, "duration_s": 3.336666666666667, "tier": "M", "id": "fe41fe1d_seg0", "clip": "fe41fe1d-c120-5d90-a90b-cfbb3a857f0c", "source": "spatialvid_v3"}, {"t0": 29, "t_end": 67, "instruction": "Go to the bench along the boardwalk.", "destination": "the bench", "start_xy": [484, 558], "ang_err_namer_deg": 8.293318088607164, "ang_err_cycle_deg": 3.484230223853881, "confidence": "A", "arrival_ok": true, "duration_s": 6.339666666666667, "tier": "L", "id": "fe41fe1d_seg1", "clip": "fe41fe1d-c120-5d90-a90b-cfbb3a857f0c", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fe/fe513da2-edef-5cf6-b373-7a53af2a88bd.json b/labels/outdoor/fe/fe513da2-edef-5cf6-b373-7a53af2a88bd.json
index b71c5a825cc039b51ea66e495b2d7ace78f8d858..e02c92ea31dd2d9142db9258915feeb304302be9 100644
--- a/labels/outdoor/fe/fe513da2-edef-5cf6-b373-7a53af2a88bd.json
+++ b/labels/outdoor/fe/fe513da2-edef-5cf6-b373-7a53af2a88bd.json
@@ -1 +1 @@
-[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the wooden guardrail.", "destination": "the area with the wooden guardrail", "start_xy": [900, 500], "ang_err_namer_deg": 4.8501208458349705, "ang_err_cycle_deg": 4.484914274785133, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "fe513da2_seg0", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}, {"t0": 25, "t_end": 60, "instruction": "Go to the blue car.", "destination": "blue car", "start_xy": [703, 512], "ang_err_namer_deg": 1.5089125259888831, "ang_err_cycle_deg": 1.5089125259888831, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "fe513da2_seg1", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the area with the road signs ahead.", "destination": "the area with the road signs", "start_xy": [787, 482], "ang_err_namer_deg": 1.2000142033736163, "ang_err_cycle_deg": 3.422260082222999, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "fe513da2_seg2", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the blue car.", "destination": "the blue car", "start_xy": [680, 550], "ang_err_namer_deg": 3.277196577591809, "ang_err_cycle_deg": 3.2025924682952778, "confidence": "B", "arrival_ok": false, "duration_s": 1.8351665701805169, "tier": "S", "id": "fe513da2_seg3", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 62, "t_end": 81, "instruction": "Go to the area with the wooden guardrail.", "destination": "the area with the wooden guardrail", "start_xy": [900, 500], "ang_err_namer_deg": 4.8501208458349705, "ang_err_cycle_deg": 4.484914274785133, "confidence": "A", "arrival_ok": true, "duration_s": 3.4868164833429818, "tier": "M", "id": "fe513da2_seg0", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 23, "instruction": "Go to the area with the road signs ahead.", "destination": "the area with the road signs", "start_xy": [787, 482], "ang_err_namer_deg": 1.2000142033736163, "ang_err_cycle_deg": 3.422260082222999, "confidence": "A", "arrival_ok": true, "duration_s": 1.8351665701805169, "tier": "S", "id": "fe513da2_seg2", "clip": "fe513da2-edef-5cf6-b373-7a53af2a88bd", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fe/fe6a286c-3538-5408-8e58-d902f00e2175.json b/labels/outdoor/fe/fe6a286c-3538-5408-8e58-d902f00e2175.json
index 9712952cabef05fe1d679f82e3f276b626504f37..736eb96f611af761df2e0182489bf98e0d44b909 100644
--- a/labels/outdoor/fe/fe6a286c-3538-5408-8e58-d902f00e2175.json
+++ b/labels/outdoor/fe/fe6a286c-3538-5408-8e58-d902f00e2175.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 74, "instruction": "Go to the area with the parked truck.", "destination": "the area with the parked truck", "start_xy": [894, 686], "ang_err_namer_deg": 6.732770279373117, "ang_err_cycle_deg": 6.732770279373117, "confidence": "B", "arrival_ok": false, "duration_s": 5.6, "tier": "L", "id": "fe6a286c_seg0", "clip": "fe6a286c-3538-5408-8e58-d902f00e2175", "source": "spatialvid_v3"}, {"t0": 2, "t_end": 34, "instruction": "Go to the crosswalk near the traffic signal pole.", "destination": "the crosswalk", "start_xy": [486, 788], "ang_err_namer_deg": 5.072587648881043, "ang_err_cycle_deg": 4.996370436544875, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fe6a286c_seg1", "clip": "fe6a286c-3538-5408-8e58-d902f00e2175", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 2, "t_end": 34, "instruction": "Go to the crosswalk near the traffic signal pole.", "destination": "the crosswalk", "start_xy": [486, 788], "ang_err_namer_deg": 5.072587648881043, "ang_err_cycle_deg": 4.996370436544875, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fe6a286c_seg1", "clip": "fe6a286c-3538-5408-8e58-d902f00e2175", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fe/fef1b44f-6829-5199-80bb-2e4a4672380b.json b/labels/outdoor/fe/fef1b44f-6829-5199-80bb-2e4a4672380b.json
index d3f4d2cf36b81bb8960415448fb27c4c833cebab..8871ca68fb5de943cb85b064eb8f2955a55c8183 100644
--- a/labels/outdoor/fe/fef1b44f-6829-5199-80bb-2e4a4672380b.json
+++ b/labels/outdoor/fe/fef1b44f-6829-5199-80bb-2e4a4672380b.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the bus.", "destination": "the bus", "start_xy": [472, 607], "ang_err_namer_deg": 3.6159110698649877, "ang_err_cycle_deg": 3.6159110698649877, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "fef1b44f_seg0", "clip": "fef1b44f-6829-5199-80bb-2e4a4672380b", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 55, "instruction": "Go to the restaurant building on the right side of the road.", "destination": "the restaurant building", "start_xy": [863, 556], "ang_err_namer_deg": 11.584179025000982, "ang_err_cycle_deg": -1, "confidence": "B", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "fef1b44f_seg1", "clip": "fef1b44f-6829-5199-80bb-2e4a4672380b", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area with the yellow road sign.", "destination": "yellow road sign", "start_xy": [546, 578], "ang_err_namer_deg": 4.541832452394637, "ang_err_cycle_deg": 4.929819449528459, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "fef1b44f_seg2", "clip": "fef1b44f-6829-5199-80bb-2e4a4672380b", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 57, "t_end": 74, "instruction": "Go to the area by the bus.", "destination": "the bus", "start_xy": [472, 607], "ang_err_namer_deg": 3.6159110698649877, "ang_err_cycle_deg": 3.6159110698649877, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "fef1b44f_seg0", "clip": "fef1b44f-6829-5199-80bb-2e4a4672380b", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/fe/fef4be25-d344-5365-b93e-90525bf6dcbc.json b/labels/outdoor/fe/fef4be25-d344-5365-b93e-90525bf6dcbc.json
index 4781123694e3017574821c88a83ec72c6a185952..5e1e743407f5fd65a478d7d3420f0f22261c2e27 100644
--- a/labels/outdoor/fe/fef4be25-d344-5365-b93e-90525bf6dcbc.json
+++ b/labels/outdoor/fe/fef4be25-d344-5365-b93e-90525bf6dcbc.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the bend in the road with the white concrete barriers.", "destination": "the bend in the road with the white concrete barriers", "start_xy": [485, 622], "ang_err_namer_deg": 8.65595632027138, "ang_err_cycle_deg": 3.102425557213505, "confidence": "B", "arrival_ok": false, "duration_s": 6.4230833333333335, "tier": "L", "id": "fef4be25_seg0", "clip": "fef4be25-d344-5365-b93e-90525bf6dcbc", "source": "spatialvid_v3"}, {"t0": 9, "t_end": 44, "instruction": "Go to the stretch of road with the concrete barriers.", "destination": "the stretch of road with the concrete barriers", "start_xy": [863, 780], "ang_err_namer_deg": 1.5166171250257903, "ang_err_cycle_deg": 1.5166171250257903, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "fef4be25_seg1", "clip": "fef4be25-d344-5365-b93e-90525bf6dcbc", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 9, "t_end": 44, "instruction": "Go to the stretch of road with the concrete barriers.", "destination": "the stretch of road with the concrete barriers", "start_xy": [863, 780], "ang_err_namer_deg": 1.5166171250257903, "ang_err_cycle_deg": 1.5166171250257903, "confidence": "A", "arrival_ok": true, "duration_s": 6.4230833333333335, "tier": "L", "id": "fef4be25_seg1", "clip": "fef4be25-d344-5365-b93e-90525bf6dcbc", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ff/ff1f6863-063c-53b4-b120-59fb0e56e9b8.json b/labels/outdoor/ff/ff1f6863-063c-53b4-b120-59fb0e56e9b8.json
index 651482546ae1a2c02e0fc93f5c7ffd9a0f7fc6ac..6580c9f81021475bcba4e2530c521a5fab287cac 100644
--- a/labels/outdoor/ff/ff1f6863-063c-53b4-b120-59fb0e56e9b8.json
+++ b/labels/outdoor/ff/ff1f6863-063c-53b4-b120-59fb0e56e9b8.json
@@ -1 +1 @@
-[{"t0": 46, "t_end": 81, "instruction": "Go to the blue car parked on the road.", "destination": "the blue car", "start_xy": [597, 637], "ang_err_namer_deg": 9.566015712656505, "ang_err_cycle_deg": 8.977328113467312, "confidence": "B", "arrival_ok": false, "duration_s": 6.423082995631809, "tier": "L", "id": "ff1f6863_seg0", "clip": "ff1f6863-063c-53b4-b120-59fb0e56e9b8", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 14, "instruction": "Go to the metal gate.", "destination": "metal gate", "start_xy": [526, 677], "ang_err_namer_deg": 12.281683538354894, "ang_err_cycle_deg": 12.281683538354894, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "ff1f6863_seg1", "clip": "ff1f6863-063c-53b4-b120-59fb0e56e9b8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 14, "instruction": "Go to the metal gate.", "destination": "metal gate", "start_xy": [526, 677], "ang_err_namer_deg": 12.281683538354894, "ang_err_cycle_deg": 12.281683538354894, "confidence": "A", "arrival_ok": true, "duration_s": 2.5692331982527237, "tier": "S", "id": "ff1f6863_seg1", "clip": "ff1f6863-063c-53b4-b120-59fb0e56e9b8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ff/ff8b6850-9c94-51fb-a4f2-5abf035131c8.json b/labels/outdoor/ff/ff8b6850-9c94-51fb-a4f2-5abf035131c8.json
index f93281cfad186b5f99adeb21c7f40a9910c471c8..fce467b50e26d54053b130a831c459116b4650a6 100644
--- a/labels/outdoor/ff/ff8b6850-9c94-51fb-a4f2-5abf035131c8.json
+++ b/labels/outdoor/ff/ff8b6850-9c94-51fb-a4f2-5abf035131c8.json
@@ -1 +1 @@
-[{"t0": 57, "t_end": 74, "instruction": "Go to the area with the trees along the rocky cliffside.", "destination": "the area with the trees along the rocky cliffside", "start_xy": [750, 300], "ang_err_namer_deg": 5.879008011170825, "ang_err_cycle_deg": 11.877181461357052, "confidence": "B", "arrival_ok": false, "duration_s": 3.4, "tier": "M", "id": "ff8b6850_seg0", "clip": "ff8b6850-9c94-51fb-a4f2-5abf035131c8", "source": "spatialvid_v3"}, {"t0": 13, "t_end": 45, "instruction": "Go to the area where the guardrail ends on the left.", "destination": "the end of the guardrail", "start_xy": [130, 745], "ang_err_namer_deg": 4.924830204398459, "ang_err_cycle_deg": 8.676164033578004, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "ff8b6850_seg1", "clip": "ff8b6850-9c94-51fb-a4f2-5abf035131c8", "source": "spatialvid_v3"}, {"t0": 1, "t_end": 11, "instruction": "Go to the stone wall along the road.", "destination": "stone wall", "start_xy": [420, 630], "ang_err_namer_deg": 1.8726377444527973, "ang_err_cycle_deg": 1.340699262387724, "confidence": "B", "arrival_ok": false, "duration_s": 2.0, "tier": "S", "id": "ff8b6850_seg2", "clip": "ff8b6850-9c94-51fb-a4f2-5abf035131c8", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 13, "t_end": 45, "instruction": "Go to the area where the guardrail ends on the left.", "destination": "the end of the guardrail", "start_xy": [130, 745], "ang_err_namer_deg": 4.924830204398459, "ang_err_cycle_deg": 8.676164033578004, "confidence": "A", "arrival_ok": true, "duration_s": 6.4, "tier": "L", "id": "ff8b6850_seg1", "clip": "ff8b6850-9c94-51fb-a4f2-5abf035131c8", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ff/ff8c43b3-abe0-5fb8-8b85-57208223b929.json b/labels/outdoor/ff/ff8c43b3-abe0-5fb8-8b85-57208223b929.json
index 7746343b726e224430f7d3e20c6360a18c3edb16..06c85e714b01eb98006237b1c6b753ad1f832739 100644
--- a/labels/outdoor/ff/ff8c43b3-abe0-5fb8-8b85-57208223b929.json
+++ b/labels/outdoor/ff/ff8c43b3-abe0-5fb8-8b85-57208223b929.json
@@ -1 +1 @@
-[{"t0": 42, "t_end": 74, "instruction": "Go to the area with the distant mountains in view.", "destination": "distant mountains", "start_xy": [585, 242], "ang_err_namer_deg": 10.50466490140461, "ang_err_cycle_deg": 3.5023668451730954, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "ff8c43b3_seg0", "clip": "ff8c43b3-abe0-5fb8-8b85-57208223b929", "source": "spatialvid_v3"}, {"t0": 23, "t_end": 40, "instruction": "Go to the area where the road curves to the right along the mountainside.", "destination": "the area where the road curves to the right along the mountainside", "start_xy": [407, 782], "ang_err_namer_deg": 0.8549720672663015, "ang_err_cycle_deg": 2.479763760187515, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ff8c43b3_seg1", "clip": "ff8c43b3-abe0-5fb8-8b85-57208223b929", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 21, "instruction": "Go to the area along the road between the dense green trees.", "destination": "the area along the road between the dense green trees", "start_xy": [450, 650], "ang_err_namer_deg": 13.127728874144635, "ang_err_cycle_deg": 1.1368972036304497, "confidence": "B", "arrival_ok": false, "duration_s": 4.2, "tier": "M", "id": "ff8c43b3_seg2", "clip": "ff8c43b3-abe0-5fb8-8b85-57208223b929", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 23, "t_end": 40, "instruction": "Go to the area where the road curves to the right along the mountainside.", "destination": "the area where the road curves to the right along the mountainside", "start_xy": [407, 782], "ang_err_namer_deg": 0.8549720672663015, "ang_err_cycle_deg": 2.479763760187515, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ff8c43b3_seg1", "clip": "ff8c43b3-abe0-5fb8-8b85-57208223b929", "source": "spatialvid_v3"}]
\ No newline at end of file
diff --git a/labels/outdoor/ff/ffe1568e-d9b0-5adf-b612-65f25f642248.json b/labels/outdoor/ff/ffe1568e-d9b0-5adf-b612-65f25f642248.json
index ce40ed7cd18c47a0e1ccbc79b9eff0c7291feaf6..314025b975bcdf1c08386615c11f6d3297a82de2 100644
--- a/labels/outdoor/ff/ffe1568e-d9b0-5adf-b612-65f25f642248.json
+++ b/labels/outdoor/ff/ffe1568e-d9b0-5adf-b612-65f25f642248.json
@@ -1 +1 @@
-[{"t0": 19, "t_end": 51, "instruction": "Go to the blue road sign.", "destination": "blue road sign", "start_xy": [339, 601], "ang_err_namer_deg": 4.386087059689965, "ang_err_cycle_deg": 4.386087059689965, "confidence": "B", "arrival_ok": false, "duration_s": 6.4, "tier": "L", "id": "ffe1568e_seg0", "clip": "ffe1568e-d9b0-5adf-b612-65f25f642248", "source": "spatialvid_v3"}, {"t0": 0, "t_end": 17, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [512, 707], "ang_err_namer_deg": 0.023489187616732674, "ang_err_cycle_deg": 1.8608701944951427, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ffe1568e_seg1", "clip": "ffe1568e-d9b0-5adf-b612-65f25f642248", "source": "spatialvid_v3"}]
\ No newline at end of file
+[{"t0": 0, "t_end": 17, "instruction": "Go to the intersection.", "destination": "the intersection", "start_xy": [512, 707], "ang_err_namer_deg": 0.023489187616732674, "ang_err_cycle_deg": 1.8608701944951427, "confidence": "A", "arrival_ok": true, "duration_s": 3.4, "tier": "M", "id": "ffe1568e_seg1", "clip": "ffe1568e-d9b0-5adf-b612-65f25f642248", "source": "spatialvid_v3"}]
\ No newline at end of file