(similar to reference driver)
(out-of-sync)
(saliency map show that vehicle as white - important)
(see 0:03)
(well done)
(common case when ego does not wait like reference driver does, then there's no time slot for him to just sneak through, the only thing left is to brake in this case)
(the exact same reason as on the left example, but with the exception that here's no way to prevent this or escape post factum)