Ours_vs_PDMC
  - An example where PDM-C collides with the vehicle on the sides (which disappears). Our planner make a safe ride.
  - ANother example where we speed fast before bicyle come onto the road while PDM-C collides with the bicycle.

C2_vs_C3_vs_C4
  - Here, we give two examples to showcase the difference between simulation settings of C2, C3 and C4.

Playing_with_different_gyms
  - We wanted to show the differences in city-specific gyms. For this, we run different City-Gyms on a particular scenario of a city. For instance, we run PIT-Gym, BOS-Gym, SIN-Gym, LAS-Gym in Pittsburgh.