diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/base.py
index 9dfade9..c44b610 100644
--- a/autoware_ml/configs/detection3d/dataset/t4dataset/base.py
+++ b/autoware_ml/configs/detection3d/dataset/t4dataset/base.py
@@ -16,6 +16,7 @@
 dataset_version_list = [
     "db_j6gen2_v1",
     "db_j6gen2_v2",
+    "db_j6gen2_v4",
     "db_largebus_v1",
     "db_jpntaxi_v1",
     "db_jpntaxi_v2",
diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py
index 201808b..c848e25 100644
--- a/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py
+++ b/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py
@@ -13,7 +13,7 @@
 
 # dataset scene setting
 dataset_version_config_root = "autoware_ml/configs/t4dataset/"
-dataset_version_list = ["db_j6gen2_v1", "db_j6gen2_v2", "db_j6gen2_v3", "db_largebus_v1"]
+dataset_version_list = ["db_j6gen2_v1", "db_j6gen2_v2", "db_j6gen2_v4", "db_largebus_v1"]
 
 # dataset format setting
 data_prefix = dict(pts="", sweeps="")
diff --git a/autoware_ml/configs/t4dataset/db_j6_v3.yaml b/autoware_ml/configs/t4dataset/db_j6_v3.yaml
index 5937f45..3a289a4 100644
--- a/autoware_ml/configs/t4dataset/db_j6_v3.yaml
+++ b/autoware_ml/configs/t4dataset/db_j6_v3.yaml
@@ -1,5 +1,5 @@
-version: 1
-dataset_version: db-j6-v3.0
+version: 2
+dataset_version: db-j6-v3.1
 
 train:
   - 85d5110c-f9e7-4e6b-80b8-21d8094be7ea
@@ -222,13 +222,11 @@ train:
   - e564b7e9-012f-4d72-b64a-9f37f1d60665
   - 11e9f93a-0c63-418b-a828-818a2f223b1a
   - 66adde60-f72b-4a04-888c-c0b372454992
-  - e7f9cc7b-9fdd-4cff-8c9a-fb87132ecbb1
   - 14cdf4c2-52d3-4b17-9484-e618611832ab
   - 770f3bd6-bb8c-4abe-aa18-420d404a7058
   - 40d7e23f-4733-4fc7-979a-4a06520442e6
   - 52371cb6-e026-44c5-82d4-0248e35d069a
   - 8b18655e-4f79-43aa-9b7b-975fd3a25bc2
-  - cafdbb38-4cb8-4587-ad2e-6cf7e8e15143
   - 082584a2-8e4a-4410-ace6-11c25695dc0f
   - 535419eb-0cbc-479c-85eb-41abb2449923
   - db5799b5-6153-4cac-9714-cd3adb5f2474
@@ -244,7 +242,6 @@ train:
   - da7394fa-6e19-40d0-bf8f-834e9e1b498b
   - ab7e89cc-21f9-4844-8adf-4eae4e44bfac
   - 7641f490-7d51-4f38-96ba-ec75fbc307a3
-  - dda2ad58-6302-4424-af9b-32985f107d3f
   - 79d7b8f6-c0d9-47bc-a3b4-cfaf19b8ca1d
   - 5ffb8bb7-a81b-420e-baf2-da0541ebcbde
   - ac927448-0fb6-4c3f-9d94-3b15f36cb0ba
@@ -262,14 +259,12 @@ train:
   - 43480346-78dc-40d8-9f5a-e236e1882fbb
   - 20f08930-4512-412d-a383-e0599527a717
   - 1629bf59-deb2-4d5d-8f4e-6559e7731795
-  - e76b5517-9623-474f-8fe3-4ddd3359d388
   - c72b2e14-090d-4b22-983c-1e2677970aba
   - 71b57376-620d-4a01-8afc-aa4f7e6dfd02
   - ad5e284d-e48a-4695-9b9a-a2e680dc20cb
   - e0474e10-893f-4452-8d4c-a5ae4e3db031
   - a1edd97b-5393-40e5-8604-99ac9b693ea6
   - fba7ebc3-0c79-4387-b1e3-cde7472ad6d5
-  - 3e9b30e1-71cb-4972-8441-d3134ca69f22
   - b1a34bd4-ca3b-44bd-af36-83648e580672
   - fc5d3c61-7a0b-490a-a17a-f3c1ef42d97a
   - f2491d51-e611-4830-bf9c-cef98c546106
@@ -297,13 +292,11 @@ train:
   - cf3b9833-a243-4d8b-850c-260cdbc7a055
   - b48f1e81-42d3-46a7-8ada-5b69fe06ebff
   - b9a1d5b7-f4d1-4999-915b-b8141cb3daaa
-  - f706904b-14fc-4750-ac14-6d5f722277ea
   - 73944061-680c-4288-b8c0-28471087c23d
   - 329f8f41-b912-4ef7-ab13-fa1725d06165
   - efb7a613-65b8-4238-88ee-da38eeb858d8
   - 99ee9c84-e01d-41e0-bb96-e30eac0f4c18
   - 08f5c503-97f7-4f95-a672-9ca3f7507f62
-  - c4b520ad-df8d-4795-986a-f0cc2fd1df79
   - 7a5cad98-b38a-4404-aca7-f7450de786b7
   - 2c5a7648-161e-4730-99c8-4bca61e515b5
   - 5d08faf9-d31b-4860-b2ab-25b4143801a5
@@ -318,11 +311,9 @@ train:
   - 5fe14f66-4226-470c-84d3-af93ff0589a8
   - 8a35a789-9d5a-460a-8e82-01e5675c497a
   - c35a6694-db66-4a2e-bdeb-006c996a575e
-  - 8f2cffbc-ef83-4e4b-b477-8ae40cd5ee88
   - 31247092-7a58-4f46-9378-94ac53c440d4
   - 33807658-d141-470c-991e-681da4ff506b
   - e8cc5c78-230b-4df3-9c57-cd02ef89c16a
-  - 7d350f50-7935-43f3-a689-67ec4d4e22da
   - bee772c5-26b7-42d5-b591-135adbc6d4b5
   - e7e52a87-0959-4c82-b5cd-196dd2e7e094
   - 0a597df9-ac4e-4c7e-bcd1-333f69a192b7
@@ -345,7 +336,6 @@ train:
   - 19ebf429-5202-446b-9559-0c44152e3962
   - 456d5a5a-dc77-4651-bde7-82782a9cf6a9
   - fa77f9d1-c7ad-4759-b55c-cf0257aebefa
-  - c36a34c4-89f1-42b1-9fac-52048617e2db
   - 201910b7-bbe4-4d9a-88d0-b82d3e09883c
   - 6700fc07-ab0c-46c2-962f-c97005370ebd
   - f25e6117-536f-4a70-adbe-2dee7aab527f
@@ -354,7 +344,6 @@ train:
   - 1755ae9b-4201-49dc-b814-ea091c52f6e9
   - d21363ae-b0cd-4547-adf0-b4f077fc8d90
   - d399b1b6-1b4e-455a-99b8-0d55deb8cdd0
-  - 26ec38b9-7018-402a-b05e-cddab35a1723
   - 0bd2c999-62b3-4de7-bb1c-c2473ac85423
   - f2f67da6-ac99-4552-8675-791bc5418d03
   - 35dd7d56-c7b5-44d2-a12e-124f8d18204f
@@ -364,7 +353,6 @@ train:
   - 6f2b7f37-ff91-4816-98f5-573c7e4a7998
   - c7dcbddc-b5fb-4cc1-a7b3-27351eb092c5
   - ce526a04-513b-4905-8bc8-1a225fa09c61
-  - 37a227a6-979c-4124-b525-04d250574c70
   - e11ae00f-c9ff-4b09-bef4-5d1bd011b4d6
   - 9f7df900-a2a2-4cee-ae45-a99a11b4b1d5
   - cfd622e5-d08d-45b1-a8a4-b5ec29312f3b
@@ -372,8 +360,338 @@ train:
   - 17297fcc-1bc7-4a9c-8936-77991e8c7dc5
   - 209b12ae-a638-4cc9-88e1-b7f0f780634d
   - b9e9d9e0-1e8c-492d-966a-d3b4248d8505
+  - 06b739c8-77af-42c5-bb26-7f7eba0552a1
+  - 0e7b58ca-7b83-4649-980a-1ecc80448285
+  - cc86f52c-ccce-4fab-b3d9-a6754508bff8
+  - 1b16d62a-7a17-46d2-9af1-46ac0277510a
+  - 6aaa61f5-536d-4781-873d-d21b1dec558a
+  - 31fb915e-41bb-437a-96d4-103e0764c7c2
+  - e2148743-ed4f-4789-a386-5bde0b4c6b3b
+  - 218118fa-d893-43c6-9788-2460744d1a04
+  - 33d599a1-90bd-4d86-aec7-48779e0d1cea
+  - df9fa7e7-e6e7-4bc0-a653-6cfdc1419a26
+  - e0680454-856a-4685-ae21-3a8df9d94c6d
+  - 532eaae8-73c9-40f3-94e9-0e5373e6bf98
+  - 5a4712c9-f3c4-474a-ab48-520aee1c3936
+  - 78e6cac1-a83a-4f47-b2eb-9e0f484c3f0b
+  - d37536ec-d619-441e-afe7-b9b6ee6e1042
+  - 380cbc91-aade-46b7-a82a-bd1a83353026
+  - b3fb5e03-cfd7-494b-8e8c-3035fc30cce4
+  - ae11ffeb-60a6-4266-af0a-40e75f90050d
+  - ea4ed9f4-3b36-42c5-a0b5-8df9ed741c81
+  - 071ecd13-b1dc-47a2-bcbd-5e0ab47c1ec4
+  - c5ef28b9-67f3-4fcc-8fc5-5ee1938892c9
+  - 12278168-0928-4fa5-95a6-f80d95db1cc4
+  - 42ed6d5b-ab5a-4f3c-88fe-ab3ab5ae772f
+  - 463301f0-a3e4-461c-b8b6-182ec3245b41
+  - c0fe77cc-0da5-4848-8383-93e0f0d8605a
+  - f1f903b3-03ed-4dd0-be41-b057fed250ff
+  - cbc09fe5-2b0c-449c-b8e9-03dc864cdc7f
+  - a40dc29a-e58e-4ed1-aa02-b9653fb33ae9
+  - 02ec0e96-8a94-4b93-9e08-4f4c579cb797
+  - ef3ff467-f1d2-4da3-a80d-fb1625075535
+  - 4d1eee53-a8ba-4c97-b9c7-e19bc0d175b9
+  - 42faa388-614e-4724-9cca-936988fe893d
+  - b94e1a4b-7080-446c-8cdd-e119423c2b2b
+  - 4b1fab39-5973-4316-a8db-979ab046e39f
+  - 2be4d6d1-3b5a-4469-ab45-a3b40ff70f73
+  - 1b0ef0bb-8296-4eb5-840e-691eb3fcabd4
+  - f52e2cc2-978f-4082-a32d-9c64bef9a976
+  - 1cdb1a09-f0b6-43e0-9ebb-758bf14b6f58
+  - 6966130e-3bff-4fbd-921b-7539cfbc9312
+  - 868c070c-1a14-442f-841e-bf5e6d07320f
+  - 64c5e8d1-25c7-4b60-9b7c-df50ec99b321
+  - fc65289f-10c5-4fbd-b1db-19ba8dd1c911
+  - 9d8c34e7-fe43-47f6-a0ae-44c851917966
+  - abb57a6c-d51d-4807-9df7-c04f246ae528
+  - 91669dba-bb93-438c-9a8e-ebe513af9f49
+  - e41ca0c0-474b-4abc-a17e-a2c0fef94e39
+  - e5a88e96-efeb-44e2-b725-212d7d502c49
+  - d31411e4-dcb1-42d5-9d51-f6da65f804c4
+  - 2db402cb-78d6-45b8-964f-85c3848dafeb
+  - beaafd51-7ab0-4b6b-a7fc-3ed3b0b6446e
+  - 8b60061b-39db-4516-a05e-fe7de6e79d40
+  - 33455ebb-3ee9-4d3e-a6ce-a27c50e21f7c
+  - 17296f7c-0cf4-436a-9312-c29583840103
+  - f4368322-7053-4039-810f-682b5794821c
+  - 97facbfa-2939-45a0-b643-3841d0736005
+  - 03346391-485d-4242-9780-adf6cc874e8f
+  - 53cfd260-e9e4-4627-be30-233817a48649
+  - eec4a80a-eb3f-425d-8993-d0b9f05902e8
+  - b0493741-2efd-4ce7-8d6e-818a2c05331c
+  - 6b7cb9b3-4465-4a09-b91c-6c42951ea456
+  # Raining
+  - 6fc01738-7283-4f44-b10c-cea1ce0f8352
+  - fa4a9b11-3ec2-4b10-a56b-2cd1c75de005
+  - edbb021c-e5ac-4f41-8be2-5bb0cb52cd55
+  - 60e51d3d-c439-4dbc-b5d6-deaa8cd4da43
+  - 06edded1-444a-4543-8c76-6bbfb7d2b3a1
+  - c96fba30-102f-4f6e-8089-8b7657ba42a3
+  - 795ec758-8061-4d40-b994-9ce9c5f3fbc3
+  - 55675777-2ed7-44e3-9d0d-eed789749e23
+  - aa08df5d-87af-4a6d-a4df-caaaebc917a3
+  # End of Raining
+  - 11bf40c4-7eb9-49ce-b282-d519c640ddda
+  - be7a9c1e-8c62-45c8-9ec7-feb92fd1fead
+  - 452c1e0d-de40-4856-9c29-59de86369bab
+  - c42e648b-07ae-41c7-bc1e-d92329422cd0
+  - cbec6d32-4208-4bc1-a5f3-330dee7cdcc5
+  - d40b2ffd-40ec-4d5f-b4dc-91e61ba06ae5
+  - 9423b21d-db10-48fa-b5a4-4e7bacd70f5d
+  - 65fcb877-fbc8-491e-b63e-3f1d56fba3ab
+  - 60961606-cce1-498a-9d54-1d87c3bcc182
+  - dd856c63-f9cd-4797-a7d1-bf587c0c9f37
+  - 594bbe6f-2c81-4f46-a39f-c39c4b014237
+  - 5c7925a2-9237-4998-9dbe-55a077f542aa
+  - 08d4e799-b959-40b3-8a30-467bd6427559
+  - 2d5e8473-3cf8-4800-9fd1-6a436ad3475d
+  - 4f54c7c5-c822-4ad7-90cf-61cd4a31b3f2
+  - 5ab47b6a-c626-46b0-a02e-15bcafa9713a
+  - 3f8b3610-d386-4fc0-a3e9-6046d36e91e4
+  - a3ec9b19-f4e5-49e3-90c0-02f13772cca5
+  - e5bc7433-95b7-4c38-86fa-abe0fd7c44e1
+  - f2b11478-7fda-40b3-8f9d-a58dd4e396ec
+  - db855072-01fb-4ea2-b451-718f4a7a9db7
+  - 8aeffaa5-e27f-4574-aead-61c653e569a1
+  - c23a19aa-d534-482a-9a9c-653201be9cdc
+  - 47d96edf-feb4-4343-8934-92fff3c74755
+  - 5b204f11-4e18-4448-814c-c2dcf50cba32
+  - 61a894e9-9676-448c-839e-7f8fd351f872
+  - 7a803ae8-ca33-4cc7-9687-f39e5d317995
+  - 190c52a6-1f58-4916-a4ec-aa76a6b441f0
+  - d11e0723-90b4-44a2-a8a3-43cc27f9e8e9
+  - be513603-ca0a-48bb-977d-9c4347d5df42
+  - fdaba6db-1f51-46a7-bc71-45e89820853a
+  - 5d5f3dad-ab57-4a9b-ada1-b943e7a864df
+  - 4586821c-88d8-44f8-b32d-30a8a6ea8b96
+  - bcfbfc06-fd74-4f66-8ff3-3fcb5f2b92ad
+  - 94108b0e-98e5-489e-88db-9ca264b771db
+  - c0f99a3a-7a9d-40b9-ae1f-8fc6e42b180f
+  - 85ecfce8-f1b1-4cf4-af4c-9460537d2ab9
+  - 7b4d6ef5-9d84-4156-9e25-311da10a1795
+  - d54ca759-25a1-4de6-87f0-296cd8d96b7d
+  - 7a42c0fb-1b78-4384-83fe-3edb4da00ea7
+  - 5e113b56-3807-4566-a90f-fc25cc0a4548
+  - 4e8ec615-c6ce-458b-96ce-201fe94fb1ab
+  - 939e1f76-cdc9-486e-b168-ec556291853d
+  - f829cf5b-d51f-44e9-8c33-f63d861782a2
+  - 1e5d0f8a-903b-4327-9718-b42720a8ce16
+  - 7a56a7b0-b7ae-4337-9734-105d2710ed41
+  - cf776aa2-01cc-4e65-9a40-2898464eff63
+  - 33ba4e56-525a-4406-bdeb-7b6ee84ecdad
+  - 92c08598-8d79-4294-8328-718c9bd6f336
+  - 25acd102-ccaf-46cf-a01e-fe08950f1845
+  - 2b9472ea-73d9-41a9-8f9f-13b6ba85df2b
+  - c85f3eff-7317-4f19-a73e-786f46a38d7b
+  - 43d856fa-6b8f-4366-ab64-2cb91f1f62b2
+  - 6fc36ac0-bbdd-4ccc-bcd6-2d810f1c8a3b
+  - cbd5649f-0a59-42d7-b6f1-1bb3dd172a0e
+  - 84e71ad0-1e7a-4662-a48c-21ffadcd09be
+  - 0b38ad4b-498a-4314-95c6-4e86fb594b56
+  - 51dade6b-5fab-470f-9a73-0362782e1330
+  - 7e2d4957-3762-4c02-b40c-c3807b0df81c
+  - 16d5ad38-0bee-4f55-a11e-a53927db4afa
+  - 90a8ba25-eb87-4b23-93dc-98dbad6cc608
+  - 56233900-e701-49b0-b94c-52b51f372427
+  - 02dd1b0e-c279-4753-ac5a-a53df40ab0be
+  - 970ee4b9-dd16-4091-9dd7-48f42ec367b4
+  - 23068195-9494-49ca-a997-30b732fc4364
+  - cde257af-8c89-4a77-9662-7fe434cd4b4c
+  - 6d1916a9-cbdb-4a5a-98be-8c221b836184
+  - 4d81a5b7-fb75-431d-b4ff-edccfc9a6516
+  - 59bf3f10-50ad-4605-ab1f-0bb1633bd798
+  - 9f060622-fbf5-4f65-a969-1068c08cecfe
+  - 3d99e8d3-b9b8-4261-9b2c-d143871435fd
+  - 6060e534-2dac-4a52-831a-ebc1811b7f2d
+  - f4a3275c-4268-40b1-b240-5dfcff0d9f4d
+  - 97497807-5a03-414d-b9cd-51a61653b7bb
+  - 20bb98f7-fee7-41e2-be1b-5ba1891560c7
+  - 5420c68c-1d11-4a72-9a84-677bc4b1e5b5
+  - aa7d0456-fdab-4385-8aca-a49a70a344c9
+  - d8ae5076-81f5-4228-ba76-9007225f84d8
+  - cee407d3-7755-4efc-989b-fe2665db7d7f
+  - 3d49f8d7-d18c-4dc8-a5d2-ec793dee6799
+  - 077d164b-0530-4394-be6d-7b59a3a3840f
+  - c5dec04d-26bf-4f80-8016-ead29a0a75f0
+  - 229d36e3-bec0-4ca9-b3dd-437e6664d1f8
+  - 02a5ca6c-9ad2-4f53-a4cb-e0f0263449a2
+  - 872af8d9-2f96-4e37-a348-95da4ccf0250
+  - a29934ec-7eb6-493d-b0f9-f2b9b568f72e
+  - 87ba1b25-d564-4c31-bf9e-f581203456d1
+  - d481b8d3-9eb8-4a92-9232-6d8893f072df
+  - 92d98a8e-235f-4891-aed8-dbacbf601403
+  - 77a45e6e-d155-4bc9-8b06-604bde68a671
+  - 4191a222-473a-4126-ad66-200a355ea0c4
+  - c522415d-9f7c-4daa-bab3-4fa01f205e4f
+  - b01cfb13-1656-4fbc-84e9-1882f7397ad4
+  - d2494fad-2831-4309-8f36-22cb3c9477b1
+  - 119725b0-10ec-442b-8763-a7da543c9ee2
+  - 07b7c36e-d81c-4cd9-8ffb-2366d600e391
+  - b3980e4d-f120-4b6a-85f9-635e7adf20b3
+  - 32b2b0dd-af9a-4500-89f1-928b2cd8ab4d
+  - 7070cf09-963a-4608-9d05-c3acc3677eff
+  - 3f3f5938-73a3-4e68-89d1-f0257d4b128d
+  - cf9520c9-08a2-4c32-a220-e3ee77be0f41
+  - 3ec8a33f-f413-4244-b802-ee273ffa74c0
+  - 594a9f6e-3b75-401a-a8ff-48845fe113d5
+  - 9303cd03-8fcf-4a4e-8bfb-2d911e7cdc91
+  - a468bb76-6e01-4a24-b81d-8e779a1d445d
+  - fad4a94f-f321-4b54-9932-2eec5592bbca
+  - 95da9144-5c7c-470d-845f-0a9051f62c65
+  - b0a52369-42e5-4db0-880c-6703bfd9fb9d
+  - 6a834b91-6b82-495b-a76b-69c92a8c06b9
+  - 72461878-9b7a-414b-8b42-582ef6149655
+  - a3717c37-9b7a-4eed-aded-d4c0ef57a420
+  - d1f130e2-7dca-4d61-bf54-b34ecf202a68
+  - 0924347a-a8e7-4030-ac51-d173c479f8ac
+  - f4089848-95b1-4885-ba1a-8c8dc81a6bd9
+  - 71bde949-9459-4dc6-8600-ede78144b59b
+  - b797119e-a56d-4de2-b740-c8fd8fc00656
+  - 3202379d-abb4-43f2-925a-2c13ad6fc478
+  - cbc14f80-18c5-4f2d-85ce-c91d0239ba98
+  - b402f39b-b52d-4929-afe1-94d5a6d75050
+  - 66c178f8-555f-4c0e-b297-a8040b90a560
+  - fabb4e93-35af-4b6d-8870-29ea80b41074
+  - 414dd79f-d17e-454b-b077-6adb340d13b5
+  - be974631-6eaf-49f0-b587-17b3754b82a0
+  - 1912dea1-cf9c-4691-bcd3-ba5b4207a122
+  - 2886d0b9-6a30-4f99-9801-c69abdb3eb58
+  - ef6471f7-5060-4414-8c5c-9486fb61c62d
+  - 27276bc2-edb9-4925-afdf-1e1e03d0c8c9
+  - fbec0ac1-9523-43a3-b63d-306c14668db0
+  - d2ebc7cb-db7e-4ac7-a15a-9756e2ebef9c
+  - 6b13a86d-9dff-4202-a3bd-ed5f613bb3b8
+  - 44f932be-6640-4139-9413-cfe7aafe4bfd
+  - 61e77328-140f-496c-b311-395a2ea1b6b4
+  - 826ef60a-095b-4537-a023-42d1e1b162f3
+  - ac231c62-9450-499f-8632-4e4d1ee671b2
+  - 8b388a5b-b20f-49ea-9c5b-be323e082715
+  - 8ac62fc7-42ca-47a6-85ed-0724b368bfc3
+  - a03e9cad-d07b-48d5-bd3f-28fbb35349ad
+  - 6173458b-9083-4bd3-8347-891a0bceb935
+  - 6bea84b6-9f41-4df7-bd08-4b80f712bea4
+  - 855dfd59-3c32-49ea-9b3f-e26d9b978986
+  - 02f996cb-2ab3-4f14-9511-49c72b345e25
+  - d8fb6b1b-d8e6-4974-b64c-e96ccabaebe1
+  - 06bf9c24-6b71-4cd1-b797-2efe85e4f413
+  - 88d01599-b0de-4f85-bf48-96cd3590ff0a
+  - 7c815c21-be51-4ed2-9bf6-9fde803f14ef
+  - f17641f0-e6bb-4ae9-83f6-3f14deaa282d
+  - 4be71a0f-acb7-4a2b-96ab-ff710d8fc603
+  - 5d2efb77-b676-4a66-8426-58b09abe9f90
+  - 63a1a7f8-001e-4e00-99b4-24f11959451e
+  - a739c4bf-c263-4218-88fa-b2008d194975
+  - 5cda7e7b-e7d6-433b-a77f-6ad817a72435
+  - 20be5b16-fa03-4108-9e15-a0876fc806f3
+  - 64330329-3589-42f7-a842-e94f53189ec3
+  - 7bc2f55c-7f95-4ced-87ba-d9979e1b9985
+  - e7c3ba2e-6b1f-4aea-b629-55a676216fbf
+  - db322739-945e-4d8b-b339-5f170cac5a1d
+  - d5c54378-3446-4b95-a79f-c77624c0f981
+  - 719033b2-dc08-4fa1-86fc-5aae50513565
+  - 9dea1120-84ef-4c14-aacd-d416104c5f5f
+  - b8a458d6-8347-454f-b257-24d536060f24
+  - 0b939da6-dce9-4e39-b50b-03a9c82a81c4
+  - 4ee74181-9ae1-49ba-b5ff-11b17f6b39fe
+  - eba10c0d-99f2-4328-a2fd-eb4a5a99aa76
+  - 2513fb51-6e6f-40b7-bf13-d4cb892a53c3
+  - 866d8aa3-25d7-47a9-8698-bfe1c244d627
+  - 822eebe6-9037-4918-8786-805e4e286144
+  - c9011072-c293-452f-b900-dbd3d7520811
+  - ad46d705-34d7-44b3-8a70-6472dd86f63b
+  - 52b41e2b-0040-4382-8231-0e59df68c1f1
+  - 111acbd3-53a5-4e56-a65f-1e73256cc214
+  - f84c984b-f7fc-4b27-ad52-8fb7c625739e
+  - 33ae2859-a5ba-47a3-95fa-a5c876689566
+  - 398f0486-f0cd-420a-9c57-468a3c62e860
+  - f77027dc-c311-4e36-a14f-3e174e7aafb3
+  - 1d1c23a1-4c73-4833-b3bd-245f0d9a2cbf
+  - cf1b1347-4c5e-46f3-90bb-937d9b13a1e8
+  - 1181b5fa-ab19-449c-80ef-31c11685db9e
+  - fc326abd-907b-41bc-b078-53e3257c992d
+  - 9807318c-b7c3-424a-9dfd-7c1f8abb88d1
+  - 37e4a577-2add-4bd9-abec-0f28b474f57e
+  - 0bedf3af-1e7e-4660-8213-30909e15326a
+  - 0e0fd9dd-afd8-4696-b4f0-57d5e910eb8e
+  - 402f0148-f74f-43a4-9db1-34e42752a0ab
+  - af426e84-255a-494f-bfe8-d7ce83ebb005
+  - d5e83260-3ea5-48e7-863d-57fc3c639789
+  - fe56d509-ef2a-4d4c-9a45-054ef1ff9443
+  - fce44564-6ff4-4965-8bf8-7f6fafaf3939
+  - a3bb3094-d1aa-46e1-96d9-46dcdf5af469
+  - faedc1c4-9eac-462a-bd2a-9bb0d4d12789
+  - 836042d0-9647-43b5-b666-a65320087e80
+  - 9c384840-a6d9-422a-bb0e-56c67896880d
+  - 937e3b92-8617-47a4-9e40-2bc289e7d49c
+  - 7bd98875-33ae-4610-bab4-a2f06962680d
+  - 64d919e7-ecd3-4971-9f8c-91c52f8a8d1a
+  - dd999f1e-5035-45e1-8772-5b1924fc09d8
+  - 9bef98c0-c6fd-4679-9b31-e89beebf8e6e
+  - 33cd89b3-3772-48b9-9139-ed1ec2221d09
+  - 66e7a556-8d1c-4cc2-9cff-06d93469a82b
+  - 14b5f52f-02fe-4cbe-b836-be2f15e5b5dd
+  - 3c7ad486-70ff-43cf-8c9a-700ea1c0b7b8
+  - a12a561a-8674-4d98-a4dd-b47532adadac
+  - 609427f9-bca9-4c9f-a967-93cb0defde3f
+  - e4e1e29e-63dc-47f0-88a5-85e29811bd68
+  - 9e6c0809-aa80-4719-aff3-20227c6d5116
+  - cba625c3-18fb-4103-871b-fcd0c11f66cb
+  - 5658da0d-792f-4386-9811-777e17dae7b3
+  - 97815895-3e97-4608-9e29-19cbac61e8fe
+  - 4779c608-35e0-463e-9aed-2a03787f5cc1
+  - 1a532a3e-fed6-4b76-a84e-71ca509e40c9
+  - 594a9c96-875d-4dea-b13e-f4cfba6693d7
+  - 771dc425-b467-4b5b-b9cb-bd2672b2077b
+  - e392761b-bebc-4a19-8b23-70d37134a713
+  - 07b03a5b-b344-4934-8c3a-aec3b6818ad7
+  - 5fe4447f-08e4-41a2-95ae-3c1a25d31e7b
+  - 4e3990ee-9bbe-4b5f-852f-bc7d00a3c742
+  - ca28c06c-3100-4433-8d68-3d95277d9fbc
+  - 1d8a02c1-258c-481d-a893-02c877ab80b6
+  - 50d76369-183e-45df-b9c9-104476b530d1
+  - ff01ed20-e2cc-4a82-a373-f091c94f19a0
+  - 151683a8-a254-4093-9e96-2c73c58aa773
+  - ba71a48f-f2a8-4732-ab3e-a1829890ea94
+  - 55db5a27-a315-4082-ad52-862080cbd7ac
+  - 293ab9aa-7b7d-4a8d-9eb4-e56e23e4de00
+  - f0f243b7-75b9-4e13-a0c7-ff5d8a0b5dc6
+  - b8b03197-7ef5-456f-844a-d1eaa26a2a24
+  - 35a029ad-7fbf-4b45-b2e7-616883ec531e
+  - 8dc63d4c-e81b-4fea-97d3-83d760392d3d
+  - cb8096ca-7910-4787-b4a2-1bebec835a36
+  - 023316d9-5353-4d3f-ae58-a4238754babd
+  - 193f2e26-0576-4a48-a2c8-49eb7d888d7f
+  - 118210a6-7138-4a8c-b17d-2df7e6f0ea97
+  - 57f53c82-649b-42ca-9a23-8b866bc53ee7
+
+val:
+  - c2857a4a-1708-4c21-8860-d591996ddd10
+  - 154356a0-61a6-4c59-830b-00236b1b10ab
+  - 6abed27e-f892-49bb-b831-08f41ecf6c37
+  - b27e7521-8df5-4271-acbf-46d29d00bb87
+  - c4ac7201-3f9a-4217-a811-37477706d9b2
+  - e05cd78f-07ba-4d77-ad80-592cf370cc4c
+  - 7a4364de-7b26-42d1-a029-239cf8f42504
+  - 9087ef8d-619f-41dc-a7c5-d95007f4623b
+  - 5d120b8c-2f39-4ecd-ad06-ac0c53ae6b69
+  - 42e88f07-7f95-4a64-97d6-f99789675f4a
+  - 7cc9b08e-242c-4f48-b845-ca178dbd3ca2
+  - fe8b419d-f363-4223-98f4-3edef122d3f5
+  - e89613c5-8ecb-4fe3-a6b5-f2aff1e58410
+  - 13943642-b757-4547-8b70-54e83521ab96
+  - 678da13f-50fb-481c-a974-5f1a25d499f1
+  - 3460e503-919d-4953-91cc-bb38fff8483d
+  - 1d9fda8f-653d-40f5-976d-36fdaeebf800
+  - 7c2a5dc3-154b-48f8-b2f4-98ef1246a82d
+  - d7db472e-d891-4138-8594-54fe88ae4196
+  - 9e5ffd22-d057-4e01-9a1f-3dc751f7d8f9
+  - c0ed8d94-7ecd-44aa-bd91-0ece732e503a
+  - 3d609535-fa00-4900-9651-55d6adce36f7
+  - 06d1163c-c967-454c-ae23-a0cabb2b2b55
+  - 9e3d22cc-8606-4f1b-a4fd-377f6e981f1a
+  - 67df6130-4b4a-4790-b629-3f7817cc171e
+  - c530849e-dd84-48c8-9c10-50615604c7aa
 
-val: []
 test:
   - 7d350f50-7935-43f3-a689-67ec4d4e22da
   - e7f9cc7b-9fdd-4cff-8c9a-fb87132ecbb1
@@ -387,3 +705,46 @@ test:
   - cafdbb38-4cb8-4587-ad2e-6cf7e8e15143
   - 26ec38b9-7018-402a-b05e-cddab35a1723
   - f706904b-14fc-4750-ac14-6d5f722277ea
+  - 2b99c610-8810-4dac-a230-3f5257cedae5
+  - 1b791741-7ef3-432b-b61b-531425589806
+  - a60117f9-c63e-4840-b0da-df8c59ce204d
+  - e8fac2b9-343d-4618-a215-35a8713ddb44
+  - c7d6fabe-d2a6-4b59-9f0b-25c908ac1000
+  - ad6aa28b-33e3-40c5-a0f7-424a972ef2f6
+  - 31e10ba5-4b24-4e99-ab68-aeb6a33bc235
+  - c66198cc-cf83-4c54-8b0f-99acf7d8c80d
+  - 1feb36cc-617d-4d3d-8606-61063b5aff4d
+  - 0b8920ab-3ef5-481b-95b3-d00e5b4181e4
+  - 4cd0f845-d98a-4dad-bfa4-05c66c299e16
+  - ad06214c-2946-4d9f-a832-ce6cf8d04e4a
+  - c167a7e8-c7d1-41fc-ab59-255fd3f82ec5
+  - 22728540-728f-4b44-988c-fd58ab84dca3
+  - 4850911a-cf59-4af6-87fc-86507d536d15
+  - 6ac1d5c7-2cd5-45ae-9ea4-1a4ac09c1077
+  - 63de7aaa-c5c7-45e0-b08d-9a54f2899384
+  - 7d3fbaa2-6eb1-466f-8cd9-c77832e06a93
+  - 86ceeee7-9dbb-4aa9-9131-853be747bf4f  # Raining
+  - 2c7d0c53-29a7-4a83-b320-2b48fac3bd0a
+  - 69cebe54-0aba-4e23-a91b-63285f142958
+  - 62756d19-616a-4879-b497-b377c416571d
+  - e29df5e0-d12b-4317-82d4-f584eb03cfd1
+  - f85a4a9b-2a77-4ffc-b8ff-98912b0590dd
+  - 8787dabe-b71e-4bab-b8ea-ca5c854af416
+  - 96a2b6b5-ca73-4b14-94c7-7fce8b669ceb
+  - 69a47c09-6030-4e63-a7c8-69d3be096372
+  - f571cb34-fb66-441a-9cd0-7ff4207b9fa3
+  - 5310f463-6fa1-437c-8021-6199e98b3459
+  - 3a1e9d7f-1f26-477b-a0cc-7e0fa43e0ad8
+  - ca57c5fe-4ee2-4628-9f79-ea4d567cfea7
+  - a6205040-bcfd-4b8a-924e-2da99999b95c
+  - f0a319c1-02de-4dd4-918a-a65979af6c91
+  - 4d1fe655-0be6-4e38-b3f3-d0cb73ffeff0
+  - 116d3f34-4f94-4939-9c8f-307b8ed6b1f3
+  - 4326d5bd-67f2-4333-a20f-a9b064446346
+  - 7d0703e5-fc3a-4750-a33a-9f9d86ddf10e
+  - a7da9468-e851-44d8-95c5-0e3bf5c40acf
+  - dd4477dd-7025-4e58-a506-141277313d3f
+  - 5b031927-ab77-41e3-8130-b6d0c98b10f9
+  - e9342786-df6e-433b-925c-73319b3e8568
+  - 3340423a-ea45-40fd-95e7-ddf2d6e9c77f
+  - 79a98e0d-50ba-4b50-a853-7428b8498b6c
diff --git a/autoware_ml/configs/t4dataset/db_j6_v5.yaml b/autoware_ml/configs/t4dataset/db_j6_v5.yaml
index 147bd27..c18b15e 100644
--- a/autoware_ml/configs/t4dataset/db_j6_v5.yaml
+++ b/autoware_ml/configs/t4dataset/db_j6_v5.yaml
@@ -34,6 +34,7 @@ train:
   - 9484d822-1326-4441-a72c-4e2480a2592b
   - 46156978-5333-490d-96a7-e07634246a11
   - 2b5c9848-17b8-4eed-877b-0ca0f709f12c
+  - b2150e0a-7a06-41ce-a408-5d4bc117bb11
 
 val:
   - 77b6ac29-075d-4bf6-8bbf-1ae29420312f
diff --git a/autoware_ml/configs/t4dataset/db_j6gen2_v1.yaml b/autoware_ml/configs/t4dataset/db_j6gen2_v1.yaml
index 5fb3c68..fa6011c 100644
--- a/autoware_ml/configs/t4dataset/db_j6gen2_v1.yaml
+++ b/autoware_ml/configs/t4dataset/db_j6gen2_v1.yaml
@@ -127,6 +127,13 @@ train:
   - f29e397c-d323-40e1-8d27-842ce78c638b
   - 3dcbec0a-3fe6-437f-86ce-b2b4f6655751
   - c14c508e-be9a-4738-a6ec-56d9be47e828
+  - 744b629c-d035-4155-92a8-2a58f0f71f2f
+  - 53507f48-638a-49dd-aea5-27a951fccb37
+  - f06f5a0b-9f95-4ac4-8411-5d94d5eb6546
+  - 7055ad26-50d0-4006-96bd-7aca6f4b7995
+  - 83972fd3-024e-4caa-b56e-eec83489b2d9
+  - 4ed09e34-7af3-4f76-bd03-4ff8ca5631b3
+  - 55a6b156-57f1-4bd9-8fee-23820e6147e6
 
 val:
   - 6e398185-4796-44fd-8530-d7d37b046c8e
@@ -186,3 +193,5 @@ test:
   - 2711c7f4-060a-40f6-a165-683d826b46b4
   - dc7060d8-b0bc-4981-9e22-2239a7dab70b
   - c2dcadce-006e-4dfa-9c8a-53bffce0673f
+  - 84b85636-92df-4b41-ba73-a6943f665e81
+  - ca5dcc1d-115f-4b92-a7f3-a0a7d74aaf63
diff --git a/autoware_ml/configs/t4dataset/db_j6gen2_v2.yaml b/autoware_ml/configs/t4dataset/db_j6gen2_v2.yaml
index 9e3c7e2..30622c3 100644
--- a/autoware_ml/configs/t4dataset/db_j6gen2_v2.yaml
+++ b/autoware_ml/configs/t4dataset/db_j6gen2_v2.yaml
@@ -463,7 +463,98 @@ train:
   - dc5d40b2-4858-447e-bbb4-785c035362ed
   - 843302ae-155b-4227-b6c5-cf444eae1aa5
   - aafda918-6c9e-44b6-82e6-ad382f795e23
+  - 7ec19ecb-e7e7-49b0-bfab-9b5b38914948
+  - cb31f454-c88e-42ed-a32a-e8cbe5a03ce5
+  - d681a4dc-ace3-46d4-b7f2-ae8ab3609a49
+  - 79e3607f-5273-44f8-b979-1b0232a7d4f8
+  - b36bf11f-ad7d-4453-a488-a943c1dee90a
+  - 01bbcdae-9526-4e26-8ad2-40ef5e517775
+  - 0404389d-36d4-406e-8a9e-082b9ccf208a
+  - 9f6de262-0740-4778-9fcf-351ac573ac1f
+  - 0f7c9086-3154-4fa1-aa7b-20be9f66ff3b
+  - e483dbca-79c6-4b9e-836b-bffc2d49fc69
+  - f1ab8712-b06c-43cc-84c4-67f1ee230be5
+  - 081b5e72-7fa7-4b09-95a5-2ea8b3a47f52
+  - a22bb71f-11dd-456e-a3c2-9f6d07e628a5
+  - a938b612-2e19-4a7a-92f8-948df8b30ab5
+  - b10985fd-6776-489c-9b3c-b4f5a49c4772
+  - db4c0693-3218-461c-bcea-b44079c34ca2
+  - 76051b8e-2a94-408e-94e4-32cb09e8b1b8
+  - ce2e0bab-7abf-409a-bd3d-7a7aed6af19a
+  - 1bdc08d1-67c7-4a4f-b523-4e600a72cc09
+  - 16ea52b3-db7e-43e2-b613-4d2b74f9da19
+  - ba67af00-2c00-4dbe-8af3-09558b7358dd
+  - abb8bc70-8f2f-4f2a-a509-a25170e51661
+  - 80abbd36-1401-4308-b774-a4575dc0ae15
+  - ce3fa06f-7aca-472b-96a7-23f7b99511a1
+  - 6dcb2bb6-e3c2-4a92-ba89-ba5170687706
+  - b45c3fa9-660c-46e0-a7a0-a9a3d0399721
+  - 175de557-1b39-43b2-af5b-34b883742bba
+  - a9283b4c-38a4-4623-9d74-9906e6aa28dc
+  - 56875f2a-0400-4216-9152-09174018621a
+  - 3c15ddb3-627a-4904-a680-df3c9d841cd2
+  - c8674ecd-91b3-410e-a872-f25b19bba3ac
+  - ed94575b-d8ea-4126-b627-6fd4523ef997
+  - aac58946-1a1f-4358-ad6d-ef94c0d86317
+  - fadb6515-eb78-4f23-be2b-be80044d07da
+  - 21775b52-01c2-49ca-9df8-110d5117ab7c
+  - 05dbad4b-fe76-4f49-a65c-fffd1a54ef5c
+  - 2d1d68f3-e603-4a13-adb3-1d71c6ac3655
+  - a6e7d4e0-47b8-4738-83a8-951ed052851d
+  - 9bb6c075-acb6-46f1-966c-75a6f33c83d2
+  - 828f4016-c2e9-4126-9e87-0426f53b87f2
+  - acb85975-9bbf-4f41-9600-b29e1ae4a3a4
+  - 17626c31-7c7f-48b4-84b9-a1f35f6ab2ae
+  - 99049e2d-d15a-4cab-8e69-0992a7675bf9
+  - 501b831d-9ac0-4942-bf89-40e8043f8906
+  - a9122e02-935f-4abb-bcce-195fda204cf8
+  - d313a44a-1143-4cc8-8cd1-dd0b19ec46e0
+  - 5e6a4da0-ffb7-4c9b-b933-9e3a5ec50f8f
+  - e6522227-c72c-440c-ae7a-6ac27a3f2cf7
+  - cffa3cc5-1522-47e2-b021-180efc9e6846
+  - a33b3a0b-ab3f-4002-a8bc-c927201e9abe
+  - 71c08f17-cbb0-4d55-af06-763ff1ea59e6
+  - d4f17964-443d-4e87-a937-6fddbca9bdfe
+  - 22c97868-7a2d-4848-9a47-0ce2d7e12b1e
+  - c5fc30dd-95ba-457f-a1be-4b5b39707cf1
+  - 5a4abccb-29ab-4c99-9f6b-7a8ced7afa62
+  - 41e29f7b-404c-4210-af7e-8e47811b5d88
+  - d4635314-b33f-4aab-92f7-bf07e3754540
+  - f2a497c6-65b0-4bb1-8a1f-aa42b07eac4e
+  - 08c9f67f-caff-4feb-a604-7fd0dcc4885a
+  - f3c71f5c-8dde-4d6a-9b2c-960b013b5f60
+  - 92c02b6e-0eab-43d8-8f73-718813c47f93
+  - d2037250-29cc-4353-ba53-03f5fd4d1e59
+  - 7eacf114-9da6-4209-9627-34551515fbe1
+  - 4edaecb2-93bd-46d0-89a4-b25715afcaf6
+  - e6cff532-873b-40ee-81e7-1ee60539eeb9
+  - 7bb1e0a0-e936-45b5-982c-733c38525573
+  - 7ddc63c9-a842-4f27-8cb0-9765f87eed51
 
-val: []
+val:
+  - fe8b419d-f363-4223-98f4-3edef122d3f5
+  - e89613c5-8ecb-4fe3-a6b5-f2aff1e58410
+  - 13943642-b757-4547-8b70-54e83521ab96
+  - 678da13f-50fb-481c-a974-5f1a25d499f1
+  - 3460e503-919d-4953-91cc-bb38fff8483d
+  - dfccaeaa-fd44-41ad-b41a-3745e145c915
+  - e9506729-78f4-416d-bc7f-842408accc6a
+  - dc1347a1-a58c-4fe2-8187-219c8799fece
 
-test: []
+test:
+  - 80c17e32-a356-436c-949f-e23e4b293df9
+  - aed761b0-2080-4dc6-84d9-7e612de21e71
+  - 216cc199-8835-41f0-b936-aba748262a55
+  - 359b38a8-1e05-4ccb-b5d9-7dc08da9ddd1
+  - 238b601f-f654-4abc-825b-273db27c03b8
+  - 36913e82-90e3-4814-8e00-6a90a28fc0d8
+  - 8865da61-060d-435f-ae06-ef7dbd3735e5
+  - 0bdfcc02-a744-418c-8d4a-7928bb8bfe05
+  - 842defa2-dea1-4b53-8d28-fb6972dbe1d0
+  - 3ab2cbf9-f8fd-49cd-89e2-aab4c043e5ff
+  - 8f982442-8899-440c-acb0-f2195a30a65e
+  - 218814af-02fc-490e-bc75-26198fdfe213
+  - d65fb74e-c69f-42dd-8023-31d54eb3d221
+  - fd2762b7-3c8a-4c5d-b69b-cc3caa28bd13
+  - e80e8452-75fa-458d-ac58-7203641ea3ab
+  - 294d4456-872d-4bfc-a241-152a35a93ae8
diff --git a/autoware_ml/configs/t4dataset/db_j6gen2_v4.yaml b/autoware_ml/configs/t4dataset/db_j6gen2_v4.yaml
new file mode 100644
index 0000000..b2f16dc
--- /dev/null
+++ b/autoware_ml/configs/t4dataset/db_j6gen2_v4.yaml
@@ -0,0 +1,112 @@
+version: 1
+dataset_version: db-j6gen2-v4.0
+
+train:
+  - b03101ae-03bc-45f9-b630-1c86308bfe15
+  - 8b4bdd68-be62-41ee-b7c2-1a4c7370aebe
+  - 43861e83-a227-4574-82c6-29e189feeb17
+  - 45d59901-c8f7-4361-9c0a-6aa4d09e4425
+  - 475cdbe2-6bfc-4b35-a022-2650caef7613
+  - 0d7e043f-de0e-44a0-8ad1-63125f55d5da
+  - dae38616-2ea7-4974-8895-873426613778
+  - 73e9e2f9-3dd0-4e39-90f0-71396a2d86e6
+  - c366c2b4-decf-4fd0-b3c5-404ef57f2d5c
+  - 609d2b20-fae6-43bd-a2a0-0d168854e223
+  - ee4720fb-2093-42c1-9d81-c7d28174924b
+  - a8f23eb6-e6cd-43bb-81c1-6b8526ff1587
+  - 31ba1c9b-b9ef-4db1-a4f2-01a53fda5db5
+  - 42ae2533-8e24-4c37-8cb1-03620b12d498
+  - 3b878d8a-a701-4f7f-9264-9bf4e8049e90
+  - f5f634b8-453c-4e16-ace5-a0fd0479f180
+  - 49b4d2f7-b702-4650-a821-121df2cabbc1
+  - 2d4daf42-c9b6-41be-af75-805e01beb689
+  - 17098770-17ab-4e7e-b4c6-a09486d518c3
+  - 07f9289d-c110-4183-be12-c0f768cee83a
+  - 0ae80efd-4fe2-4499-a3c9-de5225f6d6fb
+  - 15279ffa-3718-46d2-99a8-5bad86048650
+  - ffe9a3fe-444b-4c68-9dc9-90121b843b35
+  - ae8f0a7c-a5b7-435e-b0a3-2a021b8f9b64
+  - dc0c1c54-13ae-4337-b32a-154cd468283d
+  - ed334edf-0fa5-45d9-81e7-b4ca68f50fb3
+  - f6fb2af5-f648-4cd6-9300-97802c2f0dfd
+  - 7ee6061b-6098-49ec-9f60-73a777667df2
+  - 3af08599-c695-48e1-bc82-3ccd40ac3420
+  - ae7de4da-170a-43d6-a252-2e45dcad3086
+  - 6794c9b3-d397-4b13-b882-fa85ef612278
+  - 3edf3a4e-8cbb-40a7-bf0d-0d5d56595d13
+  - 9736fbba-81aa-4769-a162-42aae6d2c86b
+  - 9de1e9eb-7e84-436c-b3cd-1b05f084d6ab
+  - a5003edb-f0c6-446f-9f67-a259bba7d7d0
+  - 7190f964-9661-4d18-bf11-52e97741479c
+  - 02a26c15-242d-4d02-8098-0cfc99df6ff5
+  - 518aeedd-af27-4377-8c98-f3f3f8349465
+  - 14b9dd87-7056-4f96-806a-0a06c1851bbf
+  - b3fdb755-c773-4b14-b1c9-0c5e86be9e92
+  - 4fdeba62-94fd-4d41-b94d-015c21039bf2
+  - cc8ce553-30c8-4376-85f9-7f4feea4f565
+  - cb8ef4c0-9597-4f62-89de-a1fd05198adf
+  - 64dc916c-0ab2-4510-a863-132ce6199942
+  - b5c4510d-b841-4c00-8da4-1eea9f008c53
+  - a692e187-0f95-4f8c-b3d1-a944772d2beb
+  - d52afaa4-835e-4bd4-a774-7f345a5f9ff0
+  - f9a07a31-631f-4d57-a07a-88c1df1affc6
+  - 8672f1f1-1a1a-4cc9-9375-56bf5d248fa5
+  - a7b5e183-349c-4d31-b255-37f594a7a9f3
+  - 97c21af9-bde1-49c0-aad5-f2ff0f49e2b5
+  - c56ff807-4430-4efb-ade9-8a9efd68e6c4
+  - 800fd5b3-e105-4141-b0a6-d94ab5b3c2ef
+  - 5c76bd83-4552-440f-a1e5-bd60b891c2eb
+  - 94ba6b60-d8a4-403d-bad2-478de4cd7159
+  - 566b808c-2cb8-4720-b23c-421dc3a7cd6d
+  - a661cce1-42b8-4db9-8153-0004f7732ef9
+  - 0d7c575b-0638-477a-966b-b84d4c739d38
+  - 3aec3d71-7255-4b0e-9932-2f9536a530d7
+  - 768ea407-3fba-4a51-b641-ec2ed6d5228f
+  - ca303a85-4dc2-4ef4-be11-c7cecf4d23c5
+  - 4c02a053-f1ab-4b19-8c76-086ae9f896f1
+  - 73acd50b-253d-4d1f-9e4f-2e8c39bf32cb
+  - a0c4dc22-c475-4728-827b-5510b2bb6bcd
+  - 66b72427-322c-48ed-b26d-16917b616eba
+  - 7b57d41d-7437-4900-8c9b-11d97e6cc3c3
+  - bef60dfe-eb94-4400-8b8c-9c235f38762c
+  - 37f26d8f-ab9f-4883-92bc-73c1688fbc05
+  - 1b124b69-ee87-4a23-a3d3-7731b074c423
+  - 13733e82-3d96-42f5-bc48-62251b241015
+  - f489299c-eaa3-4d29-9c20-b0a5d48846f7
+  - bd37ed2a-5cf3-4f01-a899-72e456974f15
+  - c9d7a9a8-1508-40d1-9e54-78d9840c533a
+  - aa39a49d-c107-472d-b636-1a2456aff1e0
+  - 1853115c-e9e3-4fcb-bd33-aa001aa0d2c4
+  - d79e0e4c-a2d1-4f37-be20-f9a20069945b
+  - 09134f4f-7339-4007-97dd-f0b09170b62f
+  - 3fd22ee0-40ba-4ae4-b9a3-e7e8b9ca156c
+  - 2643ba58-26b6-4938-bcd8-a0750f85a6b4
+  - 910c6f00-1485-4e02-afb3-159f850cb5fe
+  - ad994352-ed13-4645-a0de-c94970341969
+  - e8daa65b-f84e-4306-9234-1ff381c5275b
+  - c097b790-a5b0-4438-9f9c-f2d7ed3fb992
+  - c1336481-b80a-40e3-aab0-491d5d4f65c2
+  - 3069b01e-687b-4e33-8f8c-dd68e1ce4792
+  - 6574ab89-d958-46ae-b4cb-d6f8ac863eae
+  - 89c747e3-d010-447d-b649-9fe541b2cbbf
+  - c1cbc553-7cd2-4e9b-ab3e-07647eb16876
+  - b5735053-a9dc-4c64-adb3-f311cddfec9d
+  - d4423069-6add-4bad-8186-f03faccf8724
+  - 8ea2521c-7c0a-45d8-92b1-a51b8ba3285a
+  - 155203e2-d882-431f-a7b0-01a07c56afb8
+  - f8f523d0-2c39-4cc4-a614-c09d99c800a7
+  - 98406d92-b72e-4925-b5e2-b00b17fb50ac
+  - 49c18a6f-268f-4802-956e-d4fd6c37bdcf
+  - 09a0248c-79bf-435b-b501-04ce90bbaec0
+  - d28f24dd-8f43-412f-a36e-1216c8b1297e
+  - 09b64bd3-1fcb-4f17-9f2c-5413de3e6801
+  - 1fa4548c-3fdf-480c-9a97-e85ca7613c00
+  - 2b9b6992-8d1b-41f0-bd14-5ba34daec573
+  - d82b7c53-447f-4760-b4bc-8ff71341021e
+  - e093e680-a667-4fa0-a87a-72dacbadddbf
+  - defc3411-9fbb-4d36-be87-aedc69b49b50
+  - f9262d40-845d-4af5-8845-5202e9bf6c7b
+
+val: []
+
+test: []
diff --git a/autoware_ml/configs/t4dataset/db_largebus_v1.yaml b/autoware_ml/configs/t4dataset/db_largebus_v1.yaml
index ea12a57..85ec4a4 100644
--- a/autoware_ml/configs/t4dataset/db_largebus_v1.yaml
+++ b/autoware_ml/configs/t4dataset/db_largebus_v1.yaml
@@ -121,6 +121,190 @@ train:
   - d9df5425-8e3c-425b-9ba0-62c806795111
   - 587b12d7-98d3-4a0b-9a3a-678a8ab40cc7
   - 09136459-2b24-4687-b1cc-85aef36b3592
+  - 2c24534c-e5df-4bfa-b878-b8bdf7d48068
+  - 95c9d96d-1a9a-4093-afab-6c6bca03ea64
+  - dfad0e6b-7674-4af6-b15e-0349b800ad86
+  - f85efbc2-bd30-4035-9420-692234019d39
+  - 78ab8fb5-13d6-480e-964e-a566dedce4a7
+  - 7fa81339-70e6-429b-9306-51c0908e6452
+  - fcfaec3a-d090-4a73-abe9-28e7c7d1c094
+  - dc6f5e2c-d5ec-4a54-a6dd-382b574d562c
+  - 63464aa0-b785-49a9-b4ba-09ebe48376c1
+  - 1d774bd8-3b5e-4526-89d6-61c0e8dec1d1
+  - 076dad4c-2b56-491b-9312-5ceb579c3578
+  - 15f5d77b-20de-42dc-a441-5dce41113ef5
+  - aef5d817-435d-4077-b715-63cdd08cdfdd
+  - c8b29a88-777f-46c1-a015-4c87d7f2f149
+  - cfef63cc-7b24-4465-a805-b98213962d9d
+  - 9359dae3-dcf2-4692-83e1-5a303129b132
+  - de6ade0b-c9b5-4675-a1a4-011c7cab8e98
+  - 1e00ec21-e5db-47a1-9c29-61a41a767e66
+  - 0fa85179-b816-4d7d-accb-af13e0206bd3
+  - a559893b-34b8-45f3-8005-f30d33b1d49e
+  - e8e6fa12-90d6-449d-aa90-1b66ccd73995
+  - b87f89db-c32a-4a19-a436-fd830e323e33
+  - 09a202f2-6861-46ab-bd30-54a8496f1237
+  - 54d4edd5-cf28-40a0-b542-9d19d812818e
+  - 57148fb5-1305-4611-945e-fe3c5749da83
+  - 8bba9d17-0602-4be6-831d-11e0c326afef
+  - c7f6602e-8c09-41f4-b25a-4b75c5279fe3
+  - 7f9a99a8-c8cc-4568-ab8d-ee66aefd7589
+  - 0b2e346a-00dc-4a6e-abca-1636e2b02a7a
+  - 0aa4d4ed-168d-4588-9fd2-717a7716bd9e
+  - 7760ba20-4695-4090-a0c5-c8790fee4f87
+  - 61f75a4d-0178-48db-a285-d67c1a880c21
+  - 48b95f6a-e956-4e5a-a79b-9becc60cd83d
+  - 164e98ec-3889-4379-96b0-24b19705e97e
+  - 8d3c6e62-9420-465b-9f19-83ad3e296ccb
+  - 4a1c7d0a-b5d9-4c14-b084-c52cb117121a
+  - 27740a44-29e1-4ee8-8561-f8ba1c611231
+  - da53f7c5-bd29-4d37-adf0-0f24c24f5b5e
+  - 3046a938-e258-4a51-9285-191725a0529d
+  - a1b32451-0e29-4a6a-aae6-d699e08159b7
+  - 57fb8ed4-f865-454a-b63b-2c86b6f3f395
+  - b653cf63-232b-47ae-ae5b-1aad4931b24a
+  - 55c2759c-35ab-4f07-9eb6-f58fa21dd99a
+  - 53bd4477-d053-4818-ad7e-bc15b83bc334
+  - 2d1086b3-aac7-40fa-831d-70d0b2736904
+  - 42eea790-1afa-44e4-b25d-52441b6d62b3
+  - 2ba138df-0574-4361-8eaa-9f23eae143ba
+  - ecaa3ab6-259c-4ef2-bc40-81c392ae8661
+  - 14244480-7da7-4cd8-bd4d-2317a1273936
+  - 2e9a875f-ebc6-4e78-b864-abacf5149c17
+  - f3357afa-5b98-4dd0-9eb8-f697739ef7ed
+  - e75299af-ac3f-4e37-93d8-e357e485b43a
+  - 332b0bee-5aef-476d-a96b-8c4f39c45a06
+  - 356502e2-ae39-417a-b6cb-f1e58d12ec12
+  - a4fa58d1-9dfa-44e4-a849-1ee20ca7c088
+  - 833d7950-5959-447c-9ba5-c7c02cf7048b
+  - e027269a-ffec-4a17-9e77-eb7d199d11c5
+  - dfb4127c-1007-4469-8420-917e0bceebed
+  - cc2e5866-7c42-4b72-912b-fee9ea877dd7
+  - 24163dd4-2563-4174-974c-856f909b6121
+  - a97ae3e7-3fc4-4c1b-8abe-bb991ec9bce1
+  - 16418b94-49df-497a-830c-22d28a970943
+  - 6bd318bd-e393-4292-b455-7d0d489f1713
+  - 588bb209-a03a-41dc-9448-0629c02a75bb
+  - ca6773d3-b332-4157-9adb-3b74d52b8e14
+  - acc363fc-af9b-4aad-8078-66c32ce65fca
+  - a2c0ee78-b498-4894-949b-d8b2e105334a
+  - 9ede479c-4b98-4b8b-a9f8-fe70fef7a18c
+  - 293e1093-225c-4f23-9866-a3650022e5a3
+  - 2ef7abc1-077e-4c84-979c-866ea780bafe
+  - 821e2c14-e3dc-4929-932f-3015f79d4155
+  - af7b6a83-71c2-4a7b-b590-a958de8288c2
+  - cddef578-f8a9-4a76-b4d9-8f1616953288
+  - d76af189-b450-457f-aac3-cc6083a78491
+  - 7c7b6f7c-ae13-4cb2-862d-32bd3f98f525
+  - adece803-7c8d-4709-878f-ec4f0d5db3bd
+  - c959e073-f481-4df0-8f8d-eb0975836e6f
+  - 23a09a07-ef6d-4cd1-a3eb-d4aeb98b8ce1
+  - 2ad0eec9-4c12-491f-85a4-28fda008fdf1
+  - f993c278-bcb9-4af5-a25e-5c14239f0e77
+  - e677003a-ca00-4a99-98ca-aa94c6937b5e
+  - adfec590-5c3c-470a-910f-acfe76cd87b9
+  - dd9c588e-cc0e-4434-96e5-5c0c12ea0792
+  - ed9f81bf-9d38-4ada-89b7-441a3187088b
+  - d1a768af-b968-47b9-a937-52f94c7addcf
+  - 6ab49e6f-c8a9-49ec-9afc-f32ec804fde0
+  - 9df608b6-70f8-4274-a3e2-58636b66e7db
+  - fbe064a4-eae9-4a19-acd0-52a7feef5822
+  - 692a6b49-a92c-43a2-b2fe-33b4b50f4a1e
+  - fc68c7f4-b000-4915-860a-a0912b249288
+  - df9846ab-7b58-4a78-b489-eefd7dd3e5a5
+  - f2a79b12-6568-4b57-99b3-07fd3d5e757c
+  - eba93ab4-82d9-4616-8d05-ab8d66e2330b
+  - 7e28f9eb-5548-46de-9567-487c1ff495e0
+  - 4c02ed53-7244-43b1-8215-107d2d63e66a
+  - 86253d66-2f08-4b4f-b682-48229b992dbe
+  - 7e23c653-67b5-45c2-84cb-88e4048fd901
+  - d7f6f390-ad75-4008-8af7-bf877fde8096
+  - 6c0b3168-ff02-4b94-a09d-38615b69083d
+  - 4b259828-224b-489a-94b2-4f7dd0139d86
+  - 0000e455-ed2d-464b-acb5-df25e24f614e
+  - 574be1af-4d69-44bc-8f36-6178c8b1411c
+  - be40f0a4-a7b0-4269-a90b-a8c4d066624e
+  - a2a2bca3-3a4d-4d46-8142-01d8683be7c6
+  - cbf879c9-ecfb-4b2d-a8f2-99fe76f0d1c1
+  - 3f5bf758-e1dd-40df-b36a-a46974b8d348
+  - b161b29f-6e36-407f-9ac4-b270d5afaf46
+  - 50b30788-9ee8-4c2c-b075-8a64fc376c27
+  - 27e394a7-1a05-4026-905e-0a8cb48d841e
+  - 41418a53-4000-46d8-b824-8b6b359904d7
+  - b72eaee4-2f4a-4a1e-947a-40fc0844c875
+  - 7c498641-4465-46e1-8c8a-2b1b80b05c87
+  - 5de1216c-6d45-4588-8a95-1a6d53e6a47b
+  - eabeb978-de14-42ea-9e8a-23d64126c7ec
+  - ed15d37e-c8aa-4507-bbf4-efc6509a0220
+  - 7c496fd9-441c-404a-bd87-846de98f548e
+  - c0344f87-92ca-408b-b56f-6f89e6954693
+  - 31c88bd0-35db-496e-afbc-bd8642539b40
+  - 50ef58e0-a613-4d72-bafb-ac6f68c80c2e
+  - d4e8c7e8-cc37-478e-a6e5-0f48a6a0ccff
+  - 34c07406-1a0a-49ee-996e-e1748418798b
+  - acc599df-b042-466f-b04f-2c2115b46b9e
+  - a3b849b5-db4f-4e5d-a41f-9eff9a406308
+  - 2ed1aec9-fe18-432c-b294-b07dbe4bf458
+  - 21d16299-08ad-4477-baf0-1ad8abc77e3f
+  - 17da2c8a-3a1c-4a83-92ee-510a0bb19a66
+  - 86647664-d97b-4eae-bd0a-1a9ce7368cab
+  - 90330508-9d36-4a6e-b53c-3f74a9bf13de
+  - 60c618d2-f981-4d48-b82e-6e6a17eeb488
+  - 3ab7248f-20c8-4579-9715-7f5f875a27a1
+  - 31c05ae0-d97c-49ac-bb79-67c356121cd7
+  - e3688893-3aef-4430-927e-545f6eb6c51f
+  - 086e1746-b44f-4955-b5f3-ef8a379f0817
+  - 1ffc8fa3-d74c-456b-83c1-a88a7fc77086
+  - 6984b4bd-a113-4f36-baa6-1ef61c1b7ff7
+  - 8416f8a2-9271-4752-8c66-8be95591bf0f
+  - cdf2ad8b-a780-419f-9372-d7b639fb65a1
+  - 6778574f-1f35-4b7a-bc61-5d5edca39ba9
+  - bfde4ccf-1660-4048-b483-7bc62593b3ac
+  - 9592c009-97f1-4728-9424-efe2e5cce379
+  - 55f4e610-9a66-4b77-99e3-c3d4c53a57f0
+  - 3d462f7b-f4ac-4da5-83f0-a0b5f3036051
+  - 9079b7c6-044d-4df2-9afa-3049186bc536
+  - 0cad1ea8-e0c2-47ab-bf53-b373ee4001bf
+  - 9c236a24-a77c-42b3-b92b-d451f4bbff88
+  - 82c7de39-36ca-41f4-829d-065d1abf1bbd
+  - 6a6c88df-7e01-42fc-9fca-d70a5e5200b9
+  - a676774a-c0ae-4ee5-87ac-47820e60b946
+  - 4830bc89-1f7a-489f-b6cf-e2679c00c29a
+  - e3e6b4dd-eda3-4873-8a56-a91d11ed2349
+  - 3ab61759-d65f-4b83-ba85-0f5fb5275efa
+  - 56771f9a-cbca-4cdb-86e2-77f3b39b05d2
+  - af074d62-6df1-410e-8475-ffef0916155c
+  - a9b82791-5681-4f5d-9752-558465775155
+  - 82f9c619-39d3-4edd-b1ba-974aa5a25404
+  - aec33368-30ae-4d7b-bc0d-d962c078da0c
+  - 6c008ccc-0cc0-41ed-92ac-1c40dc08cf5a
+  - df75fc00-16f3-4716-996b-f13bb6d3e31a
+  - 3f0a4bc0-2b56-4387-b7fd-d4fdfa4e734d
+  - 0f6c3a99-d69c-464c-b5b8-8eb6dd68d17d
+  - 83cf0337-0d03-41e8-aa93-c21a027ae95f
+  - f37b0050-e4e2-4912-b385-6c1d49aef3ec
+  - 7131a579-4a04-4279-942b-fe66c5d9d4fa
+  - 2de9eaea-9604-43d5-b224-9f5589a6f0a9
+  - ec2c2a46-78e2-4d6e-ac4a-76e2577c491c
+  - c3984e1c-a9c7-42a3-b031-89dcb3b24ba4
+  - 1718af8e-6f47-4b3e-b4ee-de907be90131
+  - e5a69534-6af2-4710-a676-d14f7b3247ce
+  - 28f0a9c5-d148-469a-adfb-d02e51e67831
+  - 0e9b83db-876f-49b1-a93e-86b526bc02ce
+  - f30e7c64-fbf5-4ef0-967b-49691b44b430
+  - 5aa3a4ce-fd6d-464f-a161-0809afc17ec8
+  - 439c43a1-d574-4792-b7d7-b1a845afd9ce
+  - 8394512d-6c23-4347-9687-e407eb1b2c3a
+  - bff35062-b6e8-4966-8490-6b84cc9923a4
+  - 6f557685-d7ec-4977-9c32-a747ebbbaba3
+  - daf019d6-a44f-43e3-af8f-7eb94a96d9c0
+  - 75c27441-bacb-4a5f-a12e-e3976370a027
+  - fb6ecfaf-9797-41ff-8936-be0bc25a071f
+  - 0ffca1f0-caf6-411c-baae-4b46f8b95f8b
+  - 1c6a8ff7-6009-4a0a-8711-16d6feee1d89
+  - a506ebd2-4649-4d6d-8e42-7651a0b5fcad
+  - 3605bd53-bb2d-4b79-bfd1-af19533c601b
+  - 04e3b9a5-c640-442f-b7f0-a7c929a52f7f
 
 val:
   - 2a29e8c2-f814-4bc3-abf7-076626dc64ee
@@ -132,6 +316,17 @@ val:
   - 2cbcb3d2-3bbf-4231-ad89-a0af297f12fc
   - d5153086-157c-4109-ba27-57be0ef23ea5
   - 63400ed6-23f4-4502-a900-48f4cb3a9f46
+  - 0040ad9d-cf8a-4d1c-b8f3-2860f0850aaa
+  - cc5e2186-bbd8-47d1-82eb-a2e1f832476d
+  - 28185329-6f32-46d2-827d-97d3a71d7adf
+  - 2e9f5a50-c460-4492-9010-1222c70773da
+  - d9806cfe-0e70-4c66-86ec-2230a631a0a3
+  - 30c039e6-072c-42b3-865e-ea9266ee5a56
+  - 35b49c89-96a1-495c-9f54-eed5565d3e87
+  - bcbb15c8-1924-48ed-8328-b513c71629d0
+  - c98cbe44-06da-435c-9aa8-cc592029a081
+  - 9f533fa1-0b84-486f-93e4-bffc231744c6
+  - d3674687-ecc1-43dc-85a2-ebe9353b0f05
 
 test:
   - 9bf19a06-7f56-405c-97fc-f239cd98f5ea
@@ -150,3 +345,18 @@ test:
   - 4cf120b9-576b-4033-a27b-da774a337f8e
   - 25acfc72-7013-4f44-8946-53f67a5c436a
   - fb9372e3-2271-4779-8694-cf442eba19c7
+  - 4dc5009b-9bca-4422-b7d2-25ffc6334a20
+  - c8e35a25-d278-4149-ac89-df5d6baa8d8f
+  - 79203421-d7e7-469c-8240-6e5981341863
+  - fb69ed01-337e-41a8-867a-3c144e2100f2
+  - a7cf14b2-a46f-4366-a1bd-b9262345c6c1
+  - 5cfde00d-8c6c-4855-b121-f55bac04eaca
+  - 806bb129-732f-4051-9552-5b0741da07d3
+  - 709a3fb6-145f-49ea-893b-132e4b85c776
+  - 00644132-4812-4056-88b8-265145828237
+  - 6f6d6471-eb60-4f90-b0fa-2eb5876b597e
+  - abc75226-4ff0-4065-a075-bb56ce26a936
+  - 10677807-8cfe-4acc-a92e-896594d2bb94
+  - 941bdddf-1102-443f-bfdb-18057cbf4c9f
+  - b9245095-2f56-45d9-a4e2-b674ac5893d8
+  - 1000f3b5-5fc5-439d-977f-3f2649a6f59c