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munich2drive_edgar Surround-camera driving clips from a real Munich HD map built by SimForge, each paired with the ego vehicle's full trajectory. Every clip is a nine-panel video -- six surround cameras at the ego's real sensor extrinsics, a chase view, a bird's-eye view, and the frame-locked CommonRoad ground truth -- so what the model sees and what the data says are visible side by side. The ego
