diff --git a/.gitattributes b/.gitattributes
index 6c620b4cf8a4a20197e384b48401dc2b6a471f56..d561f11a874758cad47bb3a61679d8c355bdf844 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -864,3 +864,146 @@ nuplan/train/training.tfrecord-00963-of-01000 filter=lfs diff=lfs merge=lfs -tex
 nuplan/train/training.tfrecord-00976-of-01000 filter=lfs diff=lfs merge=lfs -text
 nuplan/train/training.tfrecord-00270-of-01000 filter=lfs diff=lfs merge=lfs -text
 nuplan/train/training.tfrecord-00678-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00468-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00144-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00378-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00337-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00823-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00657-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00199-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00228-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00400-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00368-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00754-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00339-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00471-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00062-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00945-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00949-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00146-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00401-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00001-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00984-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00280-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00210-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00863-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00916-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00140-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00694-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00182-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00462-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00975-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00125-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00712-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00808-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00412-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00066-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00390-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00362-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00597-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00448-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00696-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00659-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00999-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00352-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00311-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00869-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00804-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00998-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00418-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00679-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00272-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00721-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00911-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00298-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00243-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00232-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00891-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00672-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00463-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00570-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00744-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00317-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00739-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00550-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00889-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00409-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00345-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00583-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00482-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00579-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00290-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00247-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00175-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00341-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00050-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00340-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00451-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00714-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00355-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00351-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00466-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00785-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00483-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00024-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00738-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00160-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00404-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00363-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00241-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00868-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00264-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00107-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00539-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00896-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00783-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00513-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00088-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00709-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00768-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00379-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00735-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00745-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00407-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00942-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00775-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00793-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00252-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00938-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00017-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00117-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00271-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00078-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00773-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00971-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00538-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00505-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00332-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00357-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00771-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00635-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00641-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00814-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00596-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00474-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00433-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00354-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00196-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00961-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00108-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00501-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00666-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00766-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00212-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00500-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00215-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00974-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00359-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00743-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00935-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00723-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00249-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00704-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00316-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00360-of-01000 filter=lfs diff=lfs merge=lfs -text
+nuplan/train/training.tfrecord-00563-of-01000 filter=lfs diff=lfs merge=lfs -text
diff --git a/nuplan/train/training.tfrecord-00001-of-01000 b/nuplan/train/training.tfrecord-00001-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..aea49e6c18335e9cb78f99d4961dc7126514c979
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00001-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5598595476e44551691312e8e06e83fdaa19afe8fb9e7f3b68e22ea1aa476c64
+size 396521051
diff --git a/nuplan/train/training.tfrecord-00017-of-01000 b/nuplan/train/training.tfrecord-00017-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..355c3528ad411e3aaa00b88a85166177d24ff162
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00017-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02b63593863ee9e1ae1d9ef323f4cf83aa971dbca00f598977a9146b756158f
+size 398302118
diff --git a/nuplan/train/training.tfrecord-00024-of-01000 b/nuplan/train/training.tfrecord-00024-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..03a1367db83c4e73f4e650c972b331d7c963d4f3
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00024-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:963017e7aaddf33475575215899a59e095ec2bedbbb1121595dc630bd810d28c
+size 395784192
diff --git a/nuplan/train/training.tfrecord-00050-of-01000 b/nuplan/train/training.tfrecord-00050-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..bc0f61976b4b3ff62bb0c7f2e6df7ae8f5d49cab
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00050-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210e5caf6947feb1af0ac9959c42c611d30f93bb1718616c080260c0d3122c9c
+size 393870465
diff --git a/nuplan/train/training.tfrecord-00062-of-01000 b/nuplan/train/training.tfrecord-00062-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8ff013819ffded1a65dd523c1fc7eee0377ee56e
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00062-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f567647651d40cccdfd77fd19807c6c4110a48019abfd8bad2701d348d013b3
+size 393747431
diff --git a/nuplan/train/training.tfrecord-00066-of-01000 b/nuplan/train/training.tfrecord-00066-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..43c0833dd521ad5c69f8186aa6bcd944d42787d1
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00066-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f6c078a12b99d0e9e7505497a2d4022ac24f0c3ca1096431df1f83ac72ce36
+size 395344400
diff --git a/nuplan/train/training.tfrecord-00078-of-01000 b/nuplan/train/training.tfrecord-00078-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..e5eb11398c07a3a09f1cc15b7f6283f1101c8950
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00078-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef528684a66c431d0fa7cba0796bd5e9963e239b649572f224e92654c61045a9
+size 394390726
diff --git a/nuplan/train/training.tfrecord-00088-of-01000 b/nuplan/train/training.tfrecord-00088-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4a24b7b9d7782676a5bcb438298270a1d5574aa8
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00088-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ce675381bb272c9ae923962b11fcb7592c07f83d5090a4f0656469fc034cd6
+size 398138978
diff --git a/nuplan/train/training.tfrecord-00107-of-01000 b/nuplan/train/training.tfrecord-00107-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ed89428e3e6a52243979178195a98cde4af467cd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00107-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4844ffef9b401243c6372c7cfdc19c1deb264b02a8de4e0d973a561de680382
+size 397124823
diff --git a/nuplan/train/training.tfrecord-00108-of-01000 b/nuplan/train/training.tfrecord-00108-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..5bddeb56ccef13f1dfc0a80625b5ba20342b2e1e
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00108-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:855a82ce11bc732acaacd6dd64d3ce87f41bfdef0b54a097769ee803a4762c57
+size 394530398
diff --git a/nuplan/train/training.tfrecord-00117-of-01000 b/nuplan/train/training.tfrecord-00117-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..18c856db61414f2c392ff9d56f2022fe3a0c9d31
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00117-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7910c36e78fb25dd0f6560831696a00b1ebbf1f23342aad8000ee63937bda00
+size 395509463
diff --git a/nuplan/train/training.tfrecord-00125-of-01000 b/nuplan/train/training.tfrecord-00125-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ccd1114415311fa61dfacd956f80e638bf2200d2
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00125-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db706413b6031060c038516fc98c87bde241881c88c9aecbbd18a2b48bfa31c5
+size 398848382
diff --git a/nuplan/train/training.tfrecord-00140-of-01000 b/nuplan/train/training.tfrecord-00140-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..485dcd1ee87a59cbd8c11c743a42dc7fa4afdf37
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00140-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e4c80f1a136aff2f2b13f2b080b4cb769a79f2bd0ec85ca499dd8f7fb3d961
+size 395818559
diff --git a/nuplan/train/training.tfrecord-00144-of-01000 b/nuplan/train/training.tfrecord-00144-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..41f7afc25e60b194767f30eb231681abeba9a9d3
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00144-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d9966195d078d4ad1937f892ec97d7f0d680f57367469d0373bde37bf8df7e
+size 397131625
diff --git a/nuplan/train/training.tfrecord-00146-of-01000 b/nuplan/train/training.tfrecord-00146-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8e6ed51bdff8af9bb53b17a1f4c5b05759086729
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00146-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d013b55b52055d2d601a6979cd795740a406d354bc7e5a1a3265977273b609
+size 396294198
diff --git a/nuplan/train/training.tfrecord-00160-of-01000 b/nuplan/train/training.tfrecord-00160-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..62b1966283ce3d5d0afdd1096af725f55afb6a25
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00160-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf9636b98e26d97e138bfa585b252af31f4a2b15f33a0e80f05cf2a1746204d
+size 396466731
diff --git a/nuplan/train/training.tfrecord-00175-of-01000 b/nuplan/train/training.tfrecord-00175-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..96331a5088a83ef590b6ead18d17237a34836ede
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00175-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d955d4513109c282cdce8b1623c02313c69861cf9d02c1f73a039bfd1b1cef6e
+size 395803547
diff --git a/nuplan/train/training.tfrecord-00182-of-01000 b/nuplan/train/training.tfrecord-00182-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..abfe5377ab9fd978348c51b697b5a0d3b9e61d93
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00182-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab57cbd9a9f08a4fbec7bc1777c5cf3fd985d18cf2431b3ce6865f7b06cc70c
+size 396327745
diff --git a/nuplan/train/training.tfrecord-00196-of-01000 b/nuplan/train/training.tfrecord-00196-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..07599d031a4bfaa9bcc25b410ac92035f45ce3e1
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00196-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1a6ea8d546e1224c95f031ac63028900b5d0b30bcf6ad4c32b2d357bc99970d
+size 394624686
diff --git a/nuplan/train/training.tfrecord-00199-of-01000 b/nuplan/train/training.tfrecord-00199-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..54aa82f3fa1ffe044c665e24a50a8893b8b85cc2
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00199-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d6f5feac3d20e8cd7e39bbba603cfa19bae854d9824d76dfcda2ee163033938
+size 393910490
diff --git a/nuplan/train/training.tfrecord-00210-of-01000 b/nuplan/train/training.tfrecord-00210-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9f2170e6853f5f1cad4d8f23f910b48a0ccaa9e8
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00210-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76cfa8333f4ce8b3c12034f226f9d170476ad3b4b1083c6d4eb3e8b96bca7c9a
+size 396900398
diff --git a/nuplan/train/training.tfrecord-00212-of-01000 b/nuplan/train/training.tfrecord-00212-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f493752cd02711fdc7c03111d98ba45b9d0fa906
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00212-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a61cef8566a34e359f821f18291b361f63e481e739f0a2b567847a31bdbfb5e1
+size 395098345
diff --git a/nuplan/train/training.tfrecord-00215-of-01000 b/nuplan/train/training.tfrecord-00215-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..dc29e9333f5c2828d68db7332f4aa3c5c77c8847
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00215-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d0abdee6fc439c1c417563da007b92d5f66a8469e48db9ebab428ed63132e5
+size 394539963
diff --git a/nuplan/train/training.tfrecord-00228-of-01000 b/nuplan/train/training.tfrecord-00228-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..5691007f64e81a3826ca64a34a460fea481d4565
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00228-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21cae5cf9b9498c97dee8c65a8c498558f5f04e065a06189fb3365ab808b5075
+size 394854225
diff --git a/nuplan/train/training.tfrecord-00232-of-01000 b/nuplan/train/training.tfrecord-00232-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..83c1a644b0d23587f8f49f23fc9b380d5c434333
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00232-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69c5e49e3657dec52f48a713cd36f73f44da7078d76199305f019c3e5a56a93
+size 395398501
diff --git a/nuplan/train/training.tfrecord-00241-of-01000 b/nuplan/train/training.tfrecord-00241-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b9b03e26c3b2059dbb5227a26d751eb0fab5694d
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00241-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134a7eb3b0e31acc167ea3ecff2029736e8ddbd9d97f5bca505a65ef52e86f93
+size 395837088
diff --git a/nuplan/train/training.tfrecord-00243-of-01000 b/nuplan/train/training.tfrecord-00243-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..674f42370ddb3a24244c8351f9a5cafdeceb433a
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00243-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b682535d02560322f94c7d870dd9fda336a8286c789d740953490575e2b92ae0
+size 395022639
diff --git a/nuplan/train/training.tfrecord-00247-of-01000 b/nuplan/train/training.tfrecord-00247-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c00c79ea90d84230162f34a3108731cb8382a519
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00247-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cbc4b93b6cfe8154b44836e74c6a0d5210acc634ba662549aff3dfd2a682678
+size 397495991
diff --git a/nuplan/train/training.tfrecord-00249-of-01000 b/nuplan/train/training.tfrecord-00249-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ba464b394427f448a71cd4275779801f132022e2
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00249-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73878deab209b0b7913031d9b824d2bdef7177ab511240037e0e7197d828bdf
+size 392925250
diff --git a/nuplan/train/training.tfrecord-00252-of-01000 b/nuplan/train/training.tfrecord-00252-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ee62ea4be7188dc3272a02ae84f3cb0e361e4fd6
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00252-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932f6d6fd166e1e455c76c2447a626f23869a57b5add0422ff37e0bf8d866d3f
+size 394790815
diff --git a/nuplan/train/training.tfrecord-00264-of-01000 b/nuplan/train/training.tfrecord-00264-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b8367b1bb5c01a425e16a49683bf9eb0f48a9d57
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00264-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98dfdb82befeee14ce6825e33547c75f5d63e12536fd90e0aafd31601e699db1
+size 396536861
diff --git a/nuplan/train/training.tfrecord-00271-of-01000 b/nuplan/train/training.tfrecord-00271-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..83dc0de1c4b97d72425687d711f88ef9bc1f6ec1
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00271-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5351a8596abcbdf42e744d4de424fdd80b8101c6328c1bd2e6deadf5fe44096
+size 394499306
diff --git a/nuplan/train/training.tfrecord-00272-of-01000 b/nuplan/train/training.tfrecord-00272-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ec6164e7db45c3ffa5656191b0d20d145ad04114
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00272-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67be632f2c7af06218c050a038684682f6c7bcee1df4966e8d57d037130247fb
+size 397002679
diff --git a/nuplan/train/training.tfrecord-00280-of-01000 b/nuplan/train/training.tfrecord-00280-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..224736cbd7a88630271cdd6771a7c443aeb9d02e
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00280-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698c8d3c5dcde5d3d6b482c3dc57be9f69d7993549567c80e87db2610744f3f0
+size 398835537
diff --git a/nuplan/train/training.tfrecord-00290-of-01000 b/nuplan/train/training.tfrecord-00290-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9ceef4300ea9efe232a3fede2fad2b24dfdb2385
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00290-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3261598024f938f768ed4a76bc5daeb574745b678259f9bdf4feb7d2d7560a3
+size 397136318
diff --git a/nuplan/train/training.tfrecord-00298-of-01000 b/nuplan/train/training.tfrecord-00298-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4cc67eb095186a834aa8ea275d4816a96bba3b75
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00298-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015f33299e35e690374d92f99e5b0d3612e402925072255945955d827e9a95e8
+size 393749494
diff --git a/nuplan/train/training.tfrecord-00311-of-01000 b/nuplan/train/training.tfrecord-00311-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b70dcc51d5d65d20eefa95c28e54650e3e2eaf2f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00311-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580ace9ff7213f34a35245c66a48f64ae461eea7f7d8bdebd4a394622422d4d7
+size 394917682
diff --git a/nuplan/train/training.tfrecord-00316-of-01000 b/nuplan/train/training.tfrecord-00316-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8fd40c67ad79a7e12f58a5aec1e0766f45560f07
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00316-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4d2c8b32b500b68bd52f8f4990f8f67f5e311eac0f5b37bb57d94e456de64d
+size 396218006
diff --git a/nuplan/train/training.tfrecord-00317-of-01000 b/nuplan/train/training.tfrecord-00317-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..de8588982764f62258e92b42a95188f005936ed8
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00317-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21b9abe21c58155cded99c106fb5e6aeda2ac6e33f698a7fd185b771cb982df
+size 396087919
diff --git a/nuplan/train/training.tfrecord-00332-of-01000 b/nuplan/train/training.tfrecord-00332-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4e909143f357f3086572cb76b334480a61a423d2
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00332-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a9688d9ccea4df86d62e839f1c323025455f6a93642a2cfcf9e84e74561258
+size 395505262
diff --git a/nuplan/train/training.tfrecord-00337-of-01000 b/nuplan/train/training.tfrecord-00337-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ccd9df628cf01ede9a80896dfff06eee93d87059
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00337-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508349d8600eb91e04704ee4b8b6f80c6a451718e5d063de3e2a55d20b8a30da
+size 396607217
diff --git a/nuplan/train/training.tfrecord-00339-of-01000 b/nuplan/train/training.tfrecord-00339-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..3d53511a918cf84dffcf979e55ddf81710f5f8fc
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00339-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c99a2d8ed54910cb2277ab78db854548b9b52fff945696535fea54493267692
+size 395587297
diff --git a/nuplan/train/training.tfrecord-00340-of-01000 b/nuplan/train/training.tfrecord-00340-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1f8bc9197db9a8705866e484d11bf118e10979b0
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00340-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde145a282337df48babaf0737d8b4a044acd10136ecedfbac5ae574b6ad4d67
+size 396557232
diff --git a/nuplan/train/training.tfrecord-00341-of-01000 b/nuplan/train/training.tfrecord-00341-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..62c02fae046b7c548e04210dd809c361e411907d
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00341-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a70318ce7cbbb45c495caa5ad6a31de8e5b83c9cc20fb9ab7ee77032f9c0232
+size 395369561
diff --git a/nuplan/train/training.tfrecord-00345-of-01000 b/nuplan/train/training.tfrecord-00345-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..626a41f47ec2e9ae035b1c2dc74b0736c6a0944d
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00345-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd28752e57a31b1699a2e27898f558112f80354af5a2cdf9e701dfe2d01dc1b
+size 394795153
diff --git a/nuplan/train/training.tfrecord-00351-of-01000 b/nuplan/train/training.tfrecord-00351-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c120c204ebf7edcd4b82a5af72106be1717fab91
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00351-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd40115e6c3397ac01b16b327bce99bce64c1bee510223e074000d671fc3178
+size 395692244
diff --git a/nuplan/train/training.tfrecord-00352-of-01000 b/nuplan/train/training.tfrecord-00352-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9e716119fef83bfece23fc198fa74a62fa24f7af
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00352-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5835384bf0ce58684a04290831d761f349f2b7710d9579e6d85a184086dce024
+size 394734709
diff --git a/nuplan/train/training.tfrecord-00354-of-01000 b/nuplan/train/training.tfrecord-00354-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..de2c7ca08f291c296c2cd5c67e933a0cef1715f5
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00354-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1cec6727b07a89a38bca6ed9a558dacf4fe1a61df40aa35fd72c9bd397b41a7
+size 394635244
diff --git a/nuplan/train/training.tfrecord-00355-of-01000 b/nuplan/train/training.tfrecord-00355-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..488af77683d0e32617117a333a26646f3278bdc4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00355-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca20e48234e92ce13e19c3e2a123683f0836c2865d5e04e85483b67352259eb5
+size 395610353
diff --git a/nuplan/train/training.tfrecord-00357-of-01000 b/nuplan/train/training.tfrecord-00357-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..127c39938afc48eba0329ec8f8ee59ed7d505f62
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00357-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78cbf42e0637c43877a904d4d37969059bcdb640542a1f5562a4db90e4c1495
+size 396045930
diff --git a/nuplan/train/training.tfrecord-00359-of-01000 b/nuplan/train/training.tfrecord-00359-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ff89526f18c90039accfb506dcd8584222c2c3cf
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00359-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af45964fbb3f6a4369c71b70fc2592da6383fc4374a4bf2571756dd1f2cd02b5
+size 396670493
diff --git a/nuplan/train/training.tfrecord-00360-of-01000 b/nuplan/train/training.tfrecord-00360-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..e1357a891f9cb566c03afe2885420f0b536d5bee
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00360-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba2b579c9c17eff57487f068eb446db3d439e2c13f8c158b0ea125dc1e8c856
+size 397262166
diff --git a/nuplan/train/training.tfrecord-00362-of-01000 b/nuplan/train/training.tfrecord-00362-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d6984b55489e0c34a4c79d70994accfba6014753
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00362-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df10b14a74ce333ebfd95046c1a7868591ec33955d2ec3f01e92b217a3ab11d5
+size 396986673
diff --git a/nuplan/train/training.tfrecord-00363-of-01000 b/nuplan/train/training.tfrecord-00363-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a4ababf79a5db5baf8298526e40a4fd0ac128e39
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00363-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ed5a77ec9dec11c781faa3aecbc832322cbbd9bebafe1550fd131fd46e67e4
+size 393498365
diff --git a/nuplan/train/training.tfrecord-00368-of-01000 b/nuplan/train/training.tfrecord-00368-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..5b36a8fa29ad392d0bff51a0dc56b32212043259
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00368-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d3c0a573f5f6d6a37e3406cf3b90d5c33f46da8af303ccba1a63c58a7a4ac1
+size 396342128
diff --git a/nuplan/train/training.tfrecord-00378-of-01000 b/nuplan/train/training.tfrecord-00378-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1458e350a0fbe9a2ab4a855f25f96f21de09d968
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00378-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14b34416b2830f9ea8abe15b9762b43da4c02203d1b69d3d6c0f57d5d08b5d4
+size 397650983
diff --git a/nuplan/train/training.tfrecord-00379-of-01000 b/nuplan/train/training.tfrecord-00379-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..5263dede7449149c25cca977bf015610b63e3320
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00379-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2599ef4dbacf4fd4a583d205e1d6c9ffc6681d39f8688fe4e4f2c556c59780aa
+size 394538332
diff --git a/nuplan/train/training.tfrecord-00390-of-01000 b/nuplan/train/training.tfrecord-00390-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..78a6b30a3f8e0317612a8df3fa68bfb6e3b7b7d5
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00390-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac9a4d228ead16f4aadab38c3a3a79449467744ee9135b8c1ff54948bf01afb
+size 395497065
diff --git a/nuplan/train/training.tfrecord-00400-of-01000 b/nuplan/train/training.tfrecord-00400-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..3260cae6a673d93a8e6aac177640065e7c5dbebe
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00400-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15031bf14881b3b4a2004540aadb03fed522aad05f8160e48164895f5a6ace5
+size 396372525
diff --git a/nuplan/train/training.tfrecord-00401-of-01000 b/nuplan/train/training.tfrecord-00401-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a3a05ef2d14b811b742389415853038b1f468f25
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00401-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278a0b3a0f493cd69fe89d845bc2db7a49558a3689a9f370955fd4b854d97236
+size 396564859
diff --git a/nuplan/train/training.tfrecord-00404-of-01000 b/nuplan/train/training.tfrecord-00404-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4160d97b0a7e73078b0c9375577254c7a2e2a8e3
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00404-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d89bcb69a16c2aa81e4d311173e579fa907348f2a9f3c46fb3bac2f45bf31c
+size 395581547
diff --git a/nuplan/train/training.tfrecord-00407-of-01000 b/nuplan/train/training.tfrecord-00407-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..e654187d9c7eb8fb0eb08b5d3768577042e2e02e
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00407-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7903cb42a3c1316313d8d0d2ee3458c55dad2c74333d39be5ba504e7b9d0b3b9
+size 395353362
diff --git a/nuplan/train/training.tfrecord-00409-of-01000 b/nuplan/train/training.tfrecord-00409-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..275cdabcf5417718f4619b4322d03accc5562230
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00409-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01dfb936c6b24e472ff60844a10ab44a6ce582e123ab5885f505df79f63878d7
+size 396159455
diff --git a/nuplan/train/training.tfrecord-00412-of-01000 b/nuplan/train/training.tfrecord-00412-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..795b432d7978bd50b610a6461f7e1550f5784a0f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00412-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746d3deb2e4176006ea7497b52454d21a3e4c7f84261dc57584627fdfc064db4
+size 394660968
diff --git a/nuplan/train/training.tfrecord-00418-of-01000 b/nuplan/train/training.tfrecord-00418-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..91ef466230d309d13d01e75412e488bb1857b157
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00418-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45c5982e0e44745e495d79659d3ac5fc5bfdb51eb09551086b37e2277339f32
+size 398428023
diff --git a/nuplan/train/training.tfrecord-00433-of-01000 b/nuplan/train/training.tfrecord-00433-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..68bf3a3c5c5ad754214e935e9a8e012a636f6c8f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00433-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d59070b4b071586d1df35aaf31bb041f50b897e8175690f6ccaa01ff2b3d628
+size 395514933
diff --git a/nuplan/train/training.tfrecord-00448-of-01000 b/nuplan/train/training.tfrecord-00448-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..31751c62b6bb2a8d5ea122e619a04bbec6c8c8ee
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00448-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bfb51c0dc44e7f70cfbe5c57688b9781eb0b7e18e575be9176ec26cc32caf32
+size 395798085
diff --git a/nuplan/train/training.tfrecord-00451-of-01000 b/nuplan/train/training.tfrecord-00451-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a6153af90bd9e19b756b5127e1cd267937e5de12
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00451-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967d1a64718e0f71851ac2d2c78e2fd4c998b8b31f5483e3165a91b4da20f57e
+size 397825789
diff --git a/nuplan/train/training.tfrecord-00462-of-01000 b/nuplan/train/training.tfrecord-00462-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..0d29266b69ffa149a9ea714610e16d63f9814db9
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00462-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b36f6bdfa6fb432eb5729219a562168c677ef9900a8e790de9cccc35f497d52
+size 396920382
diff --git a/nuplan/train/training.tfrecord-00463-of-01000 b/nuplan/train/training.tfrecord-00463-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..58bcc159a8da26cd9e3123ea18ca76c830ac4f5f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00463-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca8bc1b9d0bf55c939677b4c17f5eadf8b1e0b8e0cf7b1d93fc576dd61dc33e
+size 396207090
diff --git a/nuplan/train/training.tfrecord-00466-of-01000 b/nuplan/train/training.tfrecord-00466-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a503828a9a7f8f3a0982802fa8f405bf89f154ea
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00466-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f987d7dcdbe0af06e919adfa945ae3611d5aa22fe76d5f90ff0e06f9ae7e1822
+size 397607473
diff --git a/nuplan/train/training.tfrecord-00468-of-01000 b/nuplan/train/training.tfrecord-00468-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d2c56d10e3aa8cdbccd173677c5564087579120c
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00468-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a6f7bd458c67614e222d8eee34ca56641e1e4de64d48b0413d25a6112724ed
+size 396041268
diff --git a/nuplan/train/training.tfrecord-00471-of-01000 b/nuplan/train/training.tfrecord-00471-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..98e781dcb1c4301e083e60d31b079a8ba94deab7
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00471-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df8d2773cb4225434771d8de153c2b34ee8b5a5804c19997ffb178bcc5edcf0
+size 395051990
diff --git a/nuplan/train/training.tfrecord-00474-of-01000 b/nuplan/train/training.tfrecord-00474-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..e7acf4f1e4122a11ac4d77cffe88e627ffe50006
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00474-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b196c9b1f021ac6303c0e8efb9dd487712bf113432adc461a9b8875473ed4189
+size 392832332
diff --git a/nuplan/train/training.tfrecord-00482-of-01000 b/nuplan/train/training.tfrecord-00482-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f68573d21d6b466c0a43125942f1dee288ea97dd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00482-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b14f2bdb07dd9a7d52951ce37865098f0a8a008fc9a55b823571ecead8619906
+size 397292023
diff --git a/nuplan/train/training.tfrecord-00483-of-01000 b/nuplan/train/training.tfrecord-00483-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1362694b5335b568889c0f7ad85d27a7301cd144
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00483-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227b5ed7effc4b73f2030e83482e2f5a5deea570796d1243ba7cb876f279e5bb
+size 396548206
diff --git a/nuplan/train/training.tfrecord-00500-of-01000 b/nuplan/train/training.tfrecord-00500-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f3344efe330fea6fc23609dc7dce18a753ab11a5
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00500-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abadeb28f08efdd55cf94e8fe6fbbf1edd557fa81646cd92d6b40ff4b0c3e03f
+size 395504729
diff --git a/nuplan/train/training.tfrecord-00501-of-01000 b/nuplan/train/training.tfrecord-00501-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..98f30dddffac6fbb726d77102430b2b13cdc101a
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00501-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d44f62a5c0e952c42cd003c9886a43f927318054d5947ecb06ae391c4aaf547
+size 392806079
diff --git a/nuplan/train/training.tfrecord-00505-of-01000 b/nuplan/train/training.tfrecord-00505-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..af6f58d09969eac06760a8ecf1c6349364da1fce
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00505-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd2e8177d2d5ab64c4aa8acee5f61773422a577019ca8640b10c80f60632a53
+size 393299991
diff --git a/nuplan/train/training.tfrecord-00513-of-01000 b/nuplan/train/training.tfrecord-00513-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4038e1adc38dd655fad1a68abb798fb324ad4906
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00513-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec338e127cd07225b3ad3a5f7313133792730640359a5ebac6fe68e604b804fa
+size 395684492
diff --git a/nuplan/train/training.tfrecord-00538-of-01000 b/nuplan/train/training.tfrecord-00538-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9c556d10b9381c8c33c87ad35e3ae37395f0c852
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00538-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e086fe4fb39e136e863445b228e8869365c87ad4e4e83cd2c968221cd9fb096
+size 395871099
diff --git a/nuplan/train/training.tfrecord-00539-of-01000 b/nuplan/train/training.tfrecord-00539-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..39fd9ccb980cf7a61b0586c4207f065db8c830df
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00539-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e559ef92cb1e5d915206807ae1b69363c63c87395bb5b25a5d8417e312e922b9
+size 396388424
diff --git a/nuplan/train/training.tfrecord-00550-of-01000 b/nuplan/train/training.tfrecord-00550-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..06b26fade56926ac29b8ff98b4b3e7096cef4fc1
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00550-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f950fd68bc30dacc0ce1e7865ee2aedbf58bafa43b72ce32013cad7f4e874842
+size 395552013
diff --git a/nuplan/train/training.tfrecord-00563-of-01000 b/nuplan/train/training.tfrecord-00563-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..801eeef1ad609e18db3ea28d9b9f12accbf9cdde
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00563-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89e757da61c1c7edcda1bd8ef0de1c35a593749a7ace30e84bc0dfe00adafce
+size 394926704
diff --git a/nuplan/train/training.tfrecord-00570-of-01000 b/nuplan/train/training.tfrecord-00570-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..73ca5515a1cea0a916d67a659d6d51dbeb247ce8
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00570-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0ba08f7ae16a2c4bd5dbce8ecf3c4a08fe75d35fc3b10e7c92a34685ae5b1f
+size 395823060
diff --git a/nuplan/train/training.tfrecord-00579-of-01000 b/nuplan/train/training.tfrecord-00579-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..2f42376cb400e3ff94adb0310b5a296833dc46ef
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00579-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3404a8be979b2b0648de4cfefe4ea764f652306edfa2e25a2acb2b844961b9fa
+size 397201977
diff --git a/nuplan/train/training.tfrecord-00583-of-01000 b/nuplan/train/training.tfrecord-00583-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1e8ca709b420d3c323e0d70aefbe69f9a7ab02c3
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00583-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3700d2c3e63777af565ce1aa29fb4726831abb6edf4c08e908be7b4052afe220
+size 396627183
diff --git a/nuplan/train/training.tfrecord-00596-of-01000 b/nuplan/train/training.tfrecord-00596-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..bb526b939387c707bd21065b3c52dfc58dc2db71
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00596-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c7c1a1a02802aa5bb38528de87dfa8c6d5ae36547785d90e16c37d11d60366
+size 396654920
diff --git a/nuplan/train/training.tfrecord-00597-of-01000 b/nuplan/train/training.tfrecord-00597-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..96e1e27dae85f91a5e639ae08e144a958c0205de
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00597-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd3f16945c8b14aa9278b3fda68f0dcd567343e77a8ec0b03e51faa412b17df
+size 394768581
diff --git a/nuplan/train/training.tfrecord-00635-of-01000 b/nuplan/train/training.tfrecord-00635-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d05209f912c2d93a3d12aafc30652f1d13ac61ef
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00635-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac56f9938cf28c8d81ccc51dfcdcc25539bd3a9eddc2410098248c0e0453b98e
+size 395500921
diff --git a/nuplan/train/training.tfrecord-00641-of-01000 b/nuplan/train/training.tfrecord-00641-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..fa8c8d4b5bab62c8c75c1cab0671ca77ce08da40
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00641-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49861fd693f75e24fa3d8dcd7a24b70ddbd54acb36726745f3150c10a2644bee
+size 394383468
diff --git a/nuplan/train/training.tfrecord-00657-of-01000 b/nuplan/train/training.tfrecord-00657-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a0103daa6ad63adbaa736241900bee50b55f02f4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00657-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981d2d6d80454cd4ce6c5738f84c61c502fcde18ef8ac183e5941c04be69077b
+size 396036967
diff --git a/nuplan/train/training.tfrecord-00659-of-01000 b/nuplan/train/training.tfrecord-00659-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d326c2185ac2ee11b5a363e4ac0bae08a552ecf5
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00659-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e00ffbf779750bb9ccda97adde5af84c5d5cc6688d2502a216f6ea9abecb0dde
+size 394777111
diff --git a/nuplan/train/training.tfrecord-00666-of-01000 b/nuplan/train/training.tfrecord-00666-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f0fa9bbe3bc4898864ef5af84d4b87ed885bcdbc
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00666-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01cc4d09de470e56494814445b1ab9baec7e532f9220bda0a811e8f6252d6cf
+size 396973249
diff --git a/nuplan/train/training.tfrecord-00672-of-01000 b/nuplan/train/training.tfrecord-00672-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8da3522489e4a458279bb2cf8167f9019f588396
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00672-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e918d03269757da3ede99f10731901656f72bc6caffe2536017bbe3245755ae1
+size 397568751
diff --git a/nuplan/train/training.tfrecord-00679-of-01000 b/nuplan/train/training.tfrecord-00679-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8b1b8d5cd6cb8cca0c8585dc474859bc047f0d18
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00679-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b83c11bcc01fdb5ccf48a54f81a90c20c5c8643e7da731e9d8bfa52335094b
+size 397446522
diff --git a/nuplan/train/training.tfrecord-00694-of-01000 b/nuplan/train/training.tfrecord-00694-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..dde8d353aab1891352e2c64a9b1c2455922ee0c4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00694-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb6499a34f9ec3d1bac089b54eb37fd2d93bae8d6341b30386ed727b9f3cc68
+size 395743709
diff --git a/nuplan/train/training.tfrecord-00696-of-01000 b/nuplan/train/training.tfrecord-00696-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4450125bbd310681713da3d16b8c35b86790dff6
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00696-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4bb41f80415973a32d6e4fd58b70efd91842fa3ffe5036c8e63e987c88e3d2
+size 394700777
diff --git a/nuplan/train/training.tfrecord-00704-of-01000 b/nuplan/train/training.tfrecord-00704-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f59dacaa90c17756b61e6a65ac8bf4463ad37c2b
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00704-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80bd6888a2089b326dd937f849c9dcefbcb94c73d00c55c07a21573cab45c61f
+size 393838807
diff --git a/nuplan/train/training.tfrecord-00709-of-01000 b/nuplan/train/training.tfrecord-00709-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b35fa0047361d523f9f001c872f1bf1ce033afdd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00709-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4792a48f49bd8cdcbc712bd13f95eca93571c15726cb315e216d485ef714cfda
+size 395627968
diff --git a/nuplan/train/training.tfrecord-00712-of-01000 b/nuplan/train/training.tfrecord-00712-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c4ad5c1027abf283c5bb1ab505b6208217db8e43
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00712-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4158f12a6b00f9f97e22eef69e80b820f676f361b4160802a35aca5a7b55afba
+size 396878563
diff --git a/nuplan/train/training.tfrecord-00714-of-01000 b/nuplan/train/training.tfrecord-00714-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4f563e773c1f27f85e8837cab98a1d6f36c64c5b
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00714-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d9d8f0c96a73500f8734c0c41349890fb30438255ce2b46416cbe53d7af9a2
+size 395251392
diff --git a/nuplan/train/training.tfrecord-00721-of-01000 b/nuplan/train/training.tfrecord-00721-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b50ee2be5f074b66d5300e55cbf3ae316c84e613
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00721-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1213104d4c7219ec09599cd981f510d76bb63fb11a21de95c48a9a2b393c99b5
+size 394464531
diff --git a/nuplan/train/training.tfrecord-00723-of-01000 b/nuplan/train/training.tfrecord-00723-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..12551d89944b72a9b858715fe1821bbf517fd29f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00723-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d09b3da036b5622b37804d475c165ee3a16bb11b45f84311a248808ca6e9c41
+size 397798762
diff --git a/nuplan/train/training.tfrecord-00735-of-01000 b/nuplan/train/training.tfrecord-00735-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..11f488a04ccddbf3198667f3550309ee69b61fe4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00735-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a56dbba1db1a83b444a57a402657ad7bd09c512d5f770332be0ba2a33807ba4
+size 395840255
diff --git a/nuplan/train/training.tfrecord-00738-of-01000 b/nuplan/train/training.tfrecord-00738-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..6b731f1d385d147ef41d4bc10425610aa78021f5
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00738-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905c402a108ca4da718f81c98bd17f7c0f96b650e240c631acf90da66293c2bc
+size 394943660
diff --git a/nuplan/train/training.tfrecord-00739-of-01000 b/nuplan/train/training.tfrecord-00739-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..309bf448ea35e402ad527af14f1854ea165820dd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00739-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6cfefc1bc43a0646d72576bfa0c8d8f482459d6d27a473e2266318efc5a28cf
+size 393521228
diff --git a/nuplan/train/training.tfrecord-00743-of-01000 b/nuplan/train/training.tfrecord-00743-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4480b2c91fe99423b7cb7e0f807fc8c2a2848ab4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00743-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80f2dc88bd0274bd5a7eb222b1cf8e1fd8b4c3ddbd973b8e06a9bc7d6d7788d
+size 393180880
diff --git a/nuplan/train/training.tfrecord-00744-of-01000 b/nuplan/train/training.tfrecord-00744-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b4a77a850a96873f51f88005ef2b4a5d9b384aff
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00744-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e52a3eec8a5d9266fab34b78e2ed3b255891a630988003a381b84c6dd01455a
+size 392616446
diff --git a/nuplan/train/training.tfrecord-00745-of-01000 b/nuplan/train/training.tfrecord-00745-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..89eff9bae5a0eaed85e9d625e9b44ed27ef97343
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00745-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47718840beeeab7f566700f23881ab2c092993a324c2736ae0cf384d250352e
+size 396517376
diff --git a/nuplan/train/training.tfrecord-00754-of-01000 b/nuplan/train/training.tfrecord-00754-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..b70c25e2cce0f81bfdef4ba6e6602dc7a011ed2a
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00754-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dd0a87a0009fbfe645a4c32abac94b52ea91221385a1e6aa148dc46c4c58eaf
+size 393762534
diff --git a/nuplan/train/training.tfrecord-00766-of-01000 b/nuplan/train/training.tfrecord-00766-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..6cf212f943ae649df107b4c2eab27f2df171d459
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00766-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a497e9566d1c73fd94399a5536aec48fcfc72c29c41706f0ed52fb0d878a6ea3
+size 395084622
diff --git a/nuplan/train/training.tfrecord-00768-of-01000 b/nuplan/train/training.tfrecord-00768-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9bee77734b541aefcd41f5ea8a4d1f6cd3627d50
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00768-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b8e91feb9e577ff3458eceb58cce597b6073227d63a01780708668f41587b9
+size 396083717
diff --git a/nuplan/train/training.tfrecord-00771-of-01000 b/nuplan/train/training.tfrecord-00771-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d7657e91cd6ac6c065202102b16d1c92e6696411
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00771-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d327ffbe96c5c08300289a5e3e6a0e99a001c81bf4b5d4272993ac3b7e0a00
+size 392934437
diff --git a/nuplan/train/training.tfrecord-00773-of-01000 b/nuplan/train/training.tfrecord-00773-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..a315859164a6d4ae78210b3bcce520c9e0ba6cce
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00773-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11954cfd71b87e970f9d57b1c6f36c151b5af75cecd5afeb625c93bf97e8dbb
+size 395225525
diff --git a/nuplan/train/training.tfrecord-00775-of-01000 b/nuplan/train/training.tfrecord-00775-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1c1d527c1f107359894d96622d7bb940abdc88fb
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00775-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaccedbd37fec7d900d59d8cf349feae20a974b66c035a34a6a79fd0bceb03e6
+size 397646886
diff --git a/nuplan/train/training.tfrecord-00783-of-01000 b/nuplan/train/training.tfrecord-00783-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..d6930e38ea49dacbff7a761664c4565438ae9328
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00783-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e20a55a13c783969e217ab2a9697381daa1efae058bc54b4ecd5eab962944a
+size 395867114
diff --git a/nuplan/train/training.tfrecord-00785-of-01000 b/nuplan/train/training.tfrecord-00785-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..ea4e9c3dd6f958c07ce295d72aab9bedff8d6aa1
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00785-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b3e4f223b0adc75d95959bf879a7961d2997d3a25aa81d4ad7b58cbfa5cf481
+size 396530642
diff --git a/nuplan/train/training.tfrecord-00793-of-01000 b/nuplan/train/training.tfrecord-00793-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8b6a5d380702d7a996d9125b514bcc8cda557dd6
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00793-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe76e6f1eddcb0885a09b61a15d239e4c06fe96fd093f0c83da685403efe4017
+size 396501310
diff --git a/nuplan/train/training.tfrecord-00804-of-01000 b/nuplan/train/training.tfrecord-00804-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..f333434b0bef6eb9d87df42ed62f15a61fe2f591
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00804-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740de5fb7d49ced27eff0917694b60602df087a02889a2c97bd75e7b6f77026e
+size 394824075
diff --git a/nuplan/train/training.tfrecord-00808-of-01000 b/nuplan/train/training.tfrecord-00808-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..e97d78d036bcc8944aca653e98138143e8d4e04d
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00808-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25ddda5dfe91eb5e2e788f54a7266cd11afaec3895066385510de196a5f14df5
+size 397489063
diff --git a/nuplan/train/training.tfrecord-00814-of-01000 b/nuplan/train/training.tfrecord-00814-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..485b81f7cda6294d012b311679b7c098dd38278c
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00814-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8508fdd973d24f92c7356f1700780e89919e0d2c6389b48149f09e630f58c5
+size 394208444
diff --git a/nuplan/train/training.tfrecord-00823-of-01000 b/nuplan/train/training.tfrecord-00823-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..7cf071b3fcb08e5919d5c840446a744c62c02308
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00823-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55207fe8275ec3a4fbff59e057bbbc0ff6dc58cfa3116d912844925b3e743657
+size 394960727
diff --git a/nuplan/train/training.tfrecord-00863-of-01000 b/nuplan/train/training.tfrecord-00863-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..66f41598430cf4d38b00237f02bc933ea4a624c2
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00863-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6be75165e101bedd090d5997729bea47d9c3fcba22a3fe8b5eecb90b583ec789
+size 394327286
diff --git a/nuplan/train/training.tfrecord-00868-of-01000 b/nuplan/train/training.tfrecord-00868-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..358a149266c17a7d517bf1c6418422ca4b8d3ceb
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00868-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ab2ef7bf780c5c09c585740862b2fc10c0da48f813f707d6947309ef5709d0
+size 394956718
diff --git a/nuplan/train/training.tfrecord-00869-of-01000 b/nuplan/train/training.tfrecord-00869-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..33a6c222488828a1c398d44ad599e7688cfa2953
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00869-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a97661b44e536768797eb3217d2201e4474c09720295810367139c2b5d88a9
+size 394412058
diff --git a/nuplan/train/training.tfrecord-00889-of-01000 b/nuplan/train/training.tfrecord-00889-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..9b38e64357c056bfe3736e9118f832dda67cb330
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00889-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef37af03dfb577d83691b1712607c35bf363bffb783066141b440bb61d9a6aed
+size 393928792
diff --git a/nuplan/train/training.tfrecord-00891-of-01000 b/nuplan/train/training.tfrecord-00891-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..04fd808f70ed94a9cdfc259dd1106186f9be17bd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00891-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93426ad8e61dfd6372eb03ce905d314538dd1f3ea6ddb07360efb7309a802cd6
+size 394171818
diff --git a/nuplan/train/training.tfrecord-00896-of-01000 b/nuplan/train/training.tfrecord-00896-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..3a8d083fbc8def152e6c35afcca1b9563b2b2cc9
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00896-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f47fb894103bdb6e2d5fb1189062791b0d6246429a17531010f2c9bd6c48235
+size 393806539
diff --git a/nuplan/train/training.tfrecord-00911-of-01000 b/nuplan/train/training.tfrecord-00911-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..499e6eb1cb955ec300eac199bba1c4b633cc7d6f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00911-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be583b0d713115a7c7c47383ff6afc342129eb27f170be17fbc84d07566f7e6b
+size 396310088
diff --git a/nuplan/train/training.tfrecord-00916-of-01000 b/nuplan/train/training.tfrecord-00916-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c026eb6677d5a7a92da0743ced0cc06e9299f13f
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00916-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ba1a8c454a9acb6a5bb0e3801861f92e01db00437bc4dc3a7967aeeb9463a4
+size 394072313
diff --git a/nuplan/train/training.tfrecord-00935-of-01000 b/nuplan/train/training.tfrecord-00935-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..14627c5ebeb7c30902006c04face4bf9db1d398b
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00935-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e49d899c06b1d5b7eee7dbf4865a69bce8bccbac26f6920f784976b149adefe
+size 399067082
diff --git a/nuplan/train/training.tfrecord-00938-of-01000 b/nuplan/train/training.tfrecord-00938-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..5fe22232372dea4039468fb9831009f2d7d9f536
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00938-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0687fd16a35df81833e75f3bcc1d1ad7e7d3351ed96dd4bec8e20ce3407ab8d2
+size 395031518
diff --git a/nuplan/train/training.tfrecord-00942-of-01000 b/nuplan/train/training.tfrecord-00942-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..1d843b843c31fceaac021bd7551621d0bed987fc
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00942-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a533909f4377e452b03b3a4c67c2200f54b69c0636775505a98ad63add0bbe
+size 395914584
diff --git a/nuplan/train/training.tfrecord-00945-of-01000 b/nuplan/train/training.tfrecord-00945-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..334b57d74b8d0eb4bb032e751044b2d91271db55
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00945-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ee8578a465f8ad908c5bb4d3436546844c4689323e4e6c5836373c78e4bc4d
+size 395956983
diff --git a/nuplan/train/training.tfrecord-00949-of-01000 b/nuplan/train/training.tfrecord-00949-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..719efee1430c7e5d5d14ca4a1643d53f4a7be240
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00949-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f7ad8c98add627243c8100cdffeb8bad3957a63e27aeac06642b16ae5e5c5c
+size 393722488
diff --git a/nuplan/train/training.tfrecord-00961-of-01000 b/nuplan/train/training.tfrecord-00961-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..8ba2f30b4a36710c2868fe541c0615562b38816c
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00961-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6cfe327664138b5dd5c11ace5600036ab3b671ebc43417b695fb839ace4be1
+size 392465959
diff --git a/nuplan/train/training.tfrecord-00971-of-01000 b/nuplan/train/training.tfrecord-00971-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..4e98e05eee164cecbdc86d3b4e994773c12760ea
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00971-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef5c9bed7f96e15314c151ee66d36da458d51699b091c013ac3020bca6ec8de
+size 393801711
diff --git a/nuplan/train/training.tfrecord-00974-of-01000 b/nuplan/train/training.tfrecord-00974-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..04e494798f6f90fb8b25419568e6c1fc0cd8a9b4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00974-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f6193e90ec373533a4ffe1ea2f137f5209619840590133b61360d4a4adedd7
+size 393741883
diff --git a/nuplan/train/training.tfrecord-00975-of-01000 b/nuplan/train/training.tfrecord-00975-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c937c38da057411f498efbb13bdcf593d4101cbd
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00975-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1277ae2401826fcdb71c636f93b5fb12a1b8cbfe879049523263ed94546a9e4
+size 392917019
diff --git a/nuplan/train/training.tfrecord-00984-of-01000 b/nuplan/train/training.tfrecord-00984-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..c65774f5b404cd00e1f4b9fee34733c6f4ae40b4
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00984-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4b61d4e26c6322e63be34c9f3ef656554e7dc40ac797361096b2b1e3324158
+size 395007877
diff --git a/nuplan/train/training.tfrecord-00998-of-01000 b/nuplan/train/training.tfrecord-00998-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..de7c4ed976c5097bc2a0a5e76c2e97a47bd5049c
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00998-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30e4cc7524278ba5b3dcd70eb3a7f7b704f774cbb3e08fc1dc0a9ebf3fba33a
+size 395618895
diff --git a/nuplan/train/training.tfrecord-00999-of-01000 b/nuplan/train/training.tfrecord-00999-of-01000
new file mode 100644
index 0000000000000000000000000000000000000000..89a932add1e130846ccbeaf1b08dedaa932ccd96
--- /dev/null
+++ b/nuplan/train/training.tfrecord-00999-of-01000
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36832c29921a1e5c234f472c62fba6db816935ea41032cb8d98514812cda9b7c
+size 393919698