The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.5) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 42 is 9.2 meters away at (-3.2, -8.7). A vehicle with ID 43 is 12.2 meters away at (-11.8, -3.3). A vehicle with ID 44 is 16.8 meters away at (-15.2, -7.2). A pedestrian with ID 13 is 17.7 meters away at (9.7, 14.8). A unknown object with ID 45 is 19.8 meters away at (-1.9, 19.7). A unknown object with ID 46 is 20.0 meters away at (1.2, 20.0). A unknown object with ID 48 is 21.9 meters away at (2.7, 21.7). A vehicle with ID 47 is 22.4 meters away at (-18.9, -11.9). A unknown object with ID 40 is 24.1 meters away at (23.9, 2.8). A vehicle with ID 49 is 24.7 meters away at (-13.5, -20.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.10820323 -0.20975636] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.6) m/s. Its current heading (yaw) is 0.46 radians with an angular velocity of 0.46 rad/s.

The most relevant actors are: A vehicle with ID 42 is 13.5 meters away at (-7.1, -11.5). A vehicle with ID 43 is 16.8 meters away at (-15.6, -6.1). A unknown object with ID 46 is 17.3 meters away at (-2.9, 17.1). A unknown object with ID 45 is 17.8 meters away at (-5.9, 16.8). A unknown object with ID 48 is 18.9 meters away at (-1.3, 18.8). A unknown object with ID 40 is 20.0 meters away at (20.0, 0.0). A unknown object with ID 41 is 21.0 meters away at (20.9, 1.1). A vehicle with ID 44 is 21.6 meters away at (-19.1, -10.1). A unknown object with ID 51 is 23.9 meters away at (-11.4, 21.0). A unknown object with ID 50 is 25.0 meters away at (-17.4, 17.9).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.7) m/s. Its current heading (yaw) is -0.37 radians with an angular velocity of -0.37 rad/s.

The most relevant actors are: A unknown object with ID 40 is 12.1 meters away at (12.1, -0.4). A unknown object with ID 41 is 13.0 meters away at (13.0, 0.7). A vehicle with ID 42 is 19.1 meters away at (-14.9, -11.9). A unknown object with ID 46 is 19.9 meters away at (-10.8, 16.7). A unknown object with ID 48 is 20.6 meters away at (-9.2, 18.4). A unknown object with ID 45 is 21.5 meters away at (-13.8, 16.4). A vehicle with ID 53 is 24.1 meters away at (3.8, 23.8). A vehicle with ID 43 is 24.4 meters away at (-23.5, -6.5). A unknown object with ID 51 is 28.2 meters away at (-19.3, 20.6). A vehicle with ID 44 is 28.9 meters away at (-27.0, -10.5).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.1) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A unknown object with ID 40 is 6.3 meters away at (2.8, 5.7). A unknown object with ID 41 is 7.8 meters away at (3.7, 6.8). A unknown object with ID 30 is 19.2 meters away at (2.0, -19.1). A vehicle with ID 53 is 30.1 meters away at (-5.2, 29.7). A unknown object with ID 46 is 30.3 meters away at (-20.0, 22.8). A unknown object with ID 48 is 30.7 meters away at (-18.5, 24.5). A vehicle with ID 38 is 31.8 meters away at (28.2, -14.7). A unknown object with ID 45 is 32.3 meters away at (-23.1, 22.6). A vehicle with ID 43 is 32.8 meters away at (-32.8, -0.3). A vehicle with ID 36 is 37.1 meters away at (32.2, -18.4).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -2.5) m/s. Its current heading (yaw) is -1.73 radians with an angular velocity of -1.73 rad/s.

The most relevant actors are: A unknown object with ID 9 is 40.0 meters away at (39.0, 9.1). A vehicle with ID 14 is 47.1 meters away at (10.6, -45.9). A vehicle with ID 6 is 49.5 meters away at (48.3, 11.0). A vehicle with ID 8 is 62.7 meters away at (19.4, -59.6). A vehicle with ID 3 is 71.3 meters away at (25.0, -66.8). A pedestrian with ID 15 is 73.2 meters away at (69.7, 22.2).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.8975484 -1.03497  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.665827   2.8643608] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.1199399  -0.39071018] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.5) m/s. Its current heading (yaw) is -1.40 radians with an angular velocity of -1.40 rad/s.

The most relevant actors are: A unknown object with ID 11 is 38.4 meters away at (-15.7, 35.1). A vehicle with ID 14 is 47.3 meters away at (17.9, -43.8). A vehicle with ID 4 is 54.2 meters away at (24.5, -48.3). A vehicle with ID 3 is 64.7 meters away at (24.7, -59.8).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.9297261 -3.283343 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -6.3) m/s. Its current heading (yaw) is -1.29 radians with an angular velocity of -1.29 rad/s.

The most relevant actors are: A vehicle with ID 12 is 35.6 meters away at (12.4, 33.4). A vehicle with ID 4 is 43.1 meters away at (21.4, -37.5). A vehicle with ID 14 is 46.1 meters away at (18.4, -42.3). A vehicle with ID 3 is 53.5 meters away at (21.5, -49.0).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.8938146 -1.0991921] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.27439383 -5.6453223 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -7.6) m/s. Its current heading (yaw) is -1.35 radians with an angular velocity of -1.35 rad/s.

The most relevant actors are: A vehicle with ID 4 is 29.4 meters away at (17.8, -23.4). A cyclist with ID 13 is 29.6 meters away at (12.2, -26.9). A vehicle with ID 10 is 29.8 meters away at (12.2, -27.2). A vehicle with ID 3 is 39.3 meters away at (18.0, -35.0). A vehicle with ID 14 is 42.6 meters away at (14.8, -40.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [0.10660071 0.06156302] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.04760275 -6.274265  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) m/s. Its current heading (yaw) is -0.23 radians with an angular velocity of -0.23 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 6.2 meters away at (-4.4, -4.3). A unknown object with ID 21 is 32.8 meters away at (-22.4, 23.9). A pedestrian with ID 30 is 38.6 meters away at (-37.6, -8.8). A unknown object with ID 9 is 38.7 meters away at (-25.7, -29.0). A pedestrian with ID 24 is 45.7 meters away at (21.3, 40.4). A pedestrian with ID 25 is 48.2 meters away at (23.0, 42.4). A pedestrian with ID 31 is 69.9 meters away at (29.0, 63.6). A pedestrian with ID 11 is 75.8 meters away at (31.8, 68.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.8799287  -0.31835502] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.02088035 -0.0117873 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01382211  0.06199553] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01362289  0.00272762] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.79441565 1.0225394 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9341438 0.7178478] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.3) m/s. Its current heading (yaw) is -0.22 radians with an angular velocity of -0.22 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 5.6 meters away at (-3.5, -4.4). A unknown object with ID 14 is 16.6 meters away at (-15.1, -6.8). A unknown object with ID 20 is 17.3 meters away at (-15.7, -7.2). A pedestrian with ID 7 is 25.4 meters away at (19.5, -16.3). A unknown object with ID 9 is 39.1 meters away at (-26.7, -28.6). A pedestrian with ID 30 is 39.3 meters away at (-38.4, -8.4). A pedestrian with ID 15 is 40.8 meters away at (-40.1, -7.6). A pedestrian with ID 24 is 45.5 meters away at (20.8, 40.4). A pedestrian with ID 25 is 48.1 meters away at (22.4, 42.5). A pedestrian with ID 31 is 72.2 meters away at (30.0, 65.6).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.68178433 -0.29507804] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.05100718 1.2348464 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.0584066   0.01936532] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.09306248  0.16143326] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.03260575 -0.0576507 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.04833827  0.00604361] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4878439 1.1920702] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 0.8) m/s. Its current heading (yaw) is 0.30 radians with an angular velocity of 0.30 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 7.9 meters away at (-5.7, -5.5). A pedestrian with ID 7 is 21.4 meters away at (16.0, -14.2). A pedestrian with ID 30 is 43.3 meters away at (-42.5, -8.3). A pedestrian with ID 24 is 43.6 meters away at (16.6, 40.4). A pedestrian with ID 25 is 46.3 meters away at (18.6, 42.4). A pedestrian with ID 22 is 78.8 meters away at (31.9, 72.1).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0128368 -0.4709137] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.37401083 1.1249443 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00400166 0.02473246] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01639647 -0.08957121] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.03474795 -0.01262133] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.84953856 0.90926474] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 3.2) m/s. Its current heading (yaw) is 1.07 radians with an angular velocity of 1.07 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 13.5 meters away at (-8.3, -10.6). A pedestrian with ID 7 is 20.5 meters away at (12.5, -16.2). A pedestrian with ID 24 is 38.3 meters away at (12.2, 36.3). A pedestrian with ID 25 is 40.8 meters away at (13.9, 38.3). A pedestrian with ID 30 is 48.6 meters away at (-46.9, -12.7). A pedestrian with ID 8 is 69.8 meters away at (25.2, 65.2). A pedestrian with ID 22 is 75.7 meters away at (29.0, 69.9). A pedestrian with ID 13 is 78.1 meters away at (29.1, 72.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0268259 -0.5247965] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.44729793 0.9109461 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.06640092  0.00747977] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.07077393  0.00919399] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.05156045 -0.15753675] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.6270561 1.238545 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.53683436 0.9220128 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.93112236 -0.5600051 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 9.5) m/s. Its current heading (yaw) is 1.86 radians with an angular velocity of 1.86 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 9.6) m/s. Its current heading (yaw) is 1.83 radians with an angular velocity of 1.83 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 10.0) m/s. Its current heading (yaw) is 1.77 radians with an angular velocity of 1.77 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 10.1) m/s. Its current heading (yaw) is 1.74 radians with an angular velocity of 1.74 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.3) m/s. Its current heading (yaw) is -1.98 radians with an angular velocity of -1.98 rad/s.

The most relevant actors are: A cyclist with ID 59 is 10.3 meters away at (3.0, 9.8). A vehicle with ID 86 is 18.1 meters away at (-3.5, -17.7). A unknown object with ID 60 is 19.8 meters away at (-2.1, 19.7). A unknown object with ID 62 is 20.0 meters away at (-2.2, 19.9). A unknown object with ID 61 is 21.4 meters away at (-0.9, 21.4). A unknown object with ID 41 is 21.4 meters away at (-3.0, 21.2). A unknown object with ID 67 is 22.2 meters away at (-4.0, 21.8). A cyclist with ID 87 is 22.2 meters away at (-1.8, -22.1). A unknown object with ID 64 is 24.1 meters away at (0.3, 24.1). A vehicle with ID 78 is 26.1 meters away at (10.2, 24.0).

The cyclist with ID 59 is traveling at a (x, y) velocity of [-3.0959952 -6.9275684] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 87 is traveling at a (x, y) velocity of [ 0.5483067  -0.96002966] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.6484728 -5.574199 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.4) m/s. Its current heading (yaw) is -1.96 radians with an angular velocity of -1.96 rad/s.

The most relevant actors are: A vehicle with ID 86 is 4.1 meters away at (2.8, -2.9). A cyclist with ID 8 is 10.8 meters away at (2.3, -10.6). A cyclist with ID 59 is 11.5 meters away at (3.1, 11.0). A unknown object with ID 24 is 25.1 meters away at (-24.4, -5.8). A unknown object with ID 15 is 27.1 meters away at (-25.7, -8.7). A unknown object with ID 66 is 28.1 meters away at (-25.9, -11.0). A unknown object with ID 65 is 29.3 meters away at (-26.3, -12.9). A vehicle with ID 78 is 30.0 meters away at (11.2, 27.8). A vehicle with ID 90 is 31.0 meters away at (-29.0, -11.0). A pedestrian with ID 89 is 31.9 meters away at (-30.6, -8.9).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-1.55357   -1.0601819] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-2.997196 -6.383259] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.5841262 -5.784922 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.01577239 -0.01877012] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -7.7) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A cyclist with ID 8 is 7.9 meters away at (6.6, 4.4). A vehicle with ID 86 is 15.0 meters away at (8.8, 12.1). A cyclist with ID 59 is 17.6 meters away at (0.3, 17.6). A unknown object with ID 66 is 20.2 meters away at (-19.8, 4.1). A unknown object with ID 65 is 20.4 meters away at (-20.2, 2.3). A unknown object with ID 24 is 20.6 meters away at (-18.4, 9.4). A unknown object with ID 15 is 20.6 meters away at (-19.6, 6.5). A unknown object with ID 30 is 22.4 meters away at (-19.5, 11.1). A unknown object with ID 43 is 31.3 meters away at (-9.0, 30.0). A vehicle with ID 78 is 34.1 meters away at (12.5, 31.7).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.47664967 -0.05965364] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-6.00442   -2.2208562] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.304226 -5.484716] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.5) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A cyclist with ID 8 is 22.6 meters away at (11.4, 19.5). A unknown object with ID 65 is 23.0 meters away at (-14.9, 17.5). A unknown object with ID 66 is 24.2 meters away at (-14.5, 19.4). A unknown object with ID 15 is 26.0 meters away at (-14.3, 21.7). A unknown object with ID 24 is 27.9 meters away at (-13.1, 24.6). A pedestrian with ID 29 is 28.0 meters away at (-1.7, -28.0). A pedestrian with ID 16 is 28.9 meters away at (-19.2, 21.6). A unknown object with ID 30 is 29.9 meters away at (-14.2, 26.3). A vehicle with ID 86 is 30.9 meters away at (14.2, 27.5). A vehicle with ID 19 is 34.0 meters away at (-6.0, -33.5).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.57606184 -0.12697689] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13088673  0.18507871] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00526151 0.00587195] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.4576228 -6.1469707] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.6) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A vehicle with ID 6 is 55.9 meters away at (50.5, -23.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.879388   4.0070724] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 5.7) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A unknown object with ID 4 is 46.3 meters away at (-39.8, 23.6). A vehicle with ID 6 is 52.6 meters away at (45.8, -26.0).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.585512  4.222056] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 6.1) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A unknown object with ID 4 is 28.5 meters away at (-25.9, 11.9). A vehicle with ID 6 is 49.8 meters away at (40.3, -29.4).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.484342   4.6419888] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.8) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A unknown object with ID 4 is 12.6 meters away at (-12.6, 0.0). A vehicle with ID 6 is 46.8 meters away at (35.5, -30.5). A vehicle with ID 5 is 78.2 meters away at (-54.6, 55.9).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.730336  6.211591] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.7628376  3.916725 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 32 is 23.4 meters away at (-17.4, -15.6). A vehicle with ID 6 is 24.9 meters away at (-4.7, 24.4). A vehicle with ID 1 is 32.9 meters away at (21.2, 25.1). A vehicle with ID 27 is 37.6 meters away at (-18.2, 32.9). A vehicle with ID 33 is 41.6 meters away at (-15.1, 38.8). A vehicle with ID 7 is 46.2 meters away at (30.0, 35.2). A vehicle with ID 10 is 49.5 meters away at (29.7, 39.6). A vehicle with ID 11 is 54.6 meters away at (-22.9, 49.5). A vehicle with ID 34 is 64.3 meters away at (-46.3, -44.7). A vehicle with ID 35 is 74.4 meters away at (-52.8, -52.3).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.785028 -9.092696] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.8988783 -2.9367704] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [5.9218073 6.9514446] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.684689  3.85747 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.8854947 5.8193893] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.300526 -6.37399 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 6.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 6 is 13.9 meters away at (-10.6, 9.1). A vehicle with ID 10 is 22.3 meters away at (12.0, 18.8). A vehicle with ID 1 is 33.7 meters away at (21.8, 25.7). A vehicle with ID 27 is 35.3 meters away at (-27.8, 21.8). A vehicle with ID 25 is 41.8 meters away at (-32.7, 26.1). A vehicle with ID 7 is 45.9 meters away at (29.9, 34.9). A vehicle with ID 33 is 49.4 meters away at (-34.2, 35.5). A unknown object with ID 14 is 49.4 meters away at (46.9, -15.7). A vehicle with ID 11 is 50.2 meters away at (-32.5, 38.3). A vehicle with ID 31 is 57.3 meters away at (-37.9, 43.0).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.88221306 -0.99550813] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7258875 -3.150704 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [4.284131  5.0918374] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.2651105 5.1606703] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.915817   4.2659764] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 10 is 2.9 meters away at (-2.3, 1.7). A vehicle with ID 6 is 21.0 meters away at (-20.6, -4.2). A vehicle with ID 1 is 28.9 meters away at (18.7, 22.0). A vehicle with ID 3 is 34.4 meters away at (17.2, 29.7). A vehicle with ID 27 is 39.5 meters away at (-38.4, 9.3). A vehicle with ID 7 is 40.6 meters away at (26.6, 30.7). A vehicle with ID 25 is 45.3 meters away at (-43.2, 13.7). A vehicle with ID 11 is 50.3 meters away at (-43.1, 25.8). A unknown object with ID 20 is 62.4 meters away at (41.4, 46.7). A vehicle with ID 17 is 68.6 meters away at (66.4, -17.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4419217 -2.3952725] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.4377723 4.008985 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.7031584 -6.613536 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.7995718 3.3720756] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 3 is 6.6 meters away at (-3.4, 5.6). A vehicle with ID 1 is 21.9 meters away at (14.2, 16.7). A vehicle with ID 10 is 22.3 meters away at (-13.4, -17.8). A vehicle with ID 7 is 31.5 meters away at (20.7, 23.8). A vehicle with ID 6 is 34.3 meters away at (-30.5, -15.9). A unknown object with ID 20 is 47.2 meters away at (31.6, 35.0). A vehicle with ID 2 is 56.9 meters away at (36.9, 43.3). A vehicle with ID 4 is 70.3 meters away at (45.8, 53.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.791302  -5.4975257] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.7787815 2.1237974] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.2419945 -5.2618637] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.3815157 1.5939094] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.8) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 27 is 3.7 meters away at (3.5, 1.2). A vehicle with ID 39 is 6.9 meters away at (-3.8, 5.7). A cyclist with ID 43 is 7.1 meters away at (3.1, -6.4). A vehicle with ID 38 is 10.0 meters away at (8.2, 5.7). A vehicle with ID 56 is 14.8 meters away at (-10.3, 10.7). A vehicle with ID 45 is 17.3 meters away at (-14.2, 10.0). A vehicle with ID 44 is 18.8 meters away at (-5.9, 17.9). A vehicle with ID 30 is 21.4 meters away at (21.4, 1.2). A vehicle with ID 33 is 22.3 meters away at (-5.6, -21.6). A pedestrian with ID 46 is 25.2 meters away at (-24.6, 5.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7075858   0.44411278] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.80277365  0.54861665] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.636227   6.461929] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.97883  -5.176236] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.59194314  0.69770074] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.0364738  1.0488604] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.1845117 -4.196092 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 9.272898  -5.0409207] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.1804    -3.5849626] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3584323   0.82383114] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.8, 1.2). A vehicle with ID 39 is 7.0 meters away at (-3.8, 5.9). A vehicle with ID 44 is 12.3 meters away at (8.9, 8.6). A vehicle with ID 56 is 14.8 meters away at (-9.9, 10.9). A vehicle with ID 45 is 17.5 meters away at (-14.0, 10.5). A cyclist with ID 43 is 17.7 meters away at (-16.7, 6.1). A pedestrian with ID 46 is 26.5 meters away at (-25.8, 6.1). A pedestrian with ID 42 is 28.1 meters away at (0.2, -28.1). A vehicle with ID 38 is 29.2 meters away at (28.7, -5.7). A vehicle with ID 47 is 30.2 meters away at (-29.7, -5.7).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7841974  0.5323239] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.58409935  0.40835777] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 7.1151466 -4.30005  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.4686651   0.45450807] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-10.038773    6.3438096] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3732933   0.81378585] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.3005166 0.4617104] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.668036  -5.0419917] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 27 is 3.1 meters away at (2.0, 2.3). A vehicle with ID 39 is 7.7 meters away at (-4.4, 6.4). A vehicle with ID 56 is 16.1 meters away at (-10.8, 12.0). A vehicle with ID 45 is 17.5 meters away at (-13.9, 10.5). A vehicle with ID 44 is 24.0 meters away at (24.0, -0.1). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.6). A pedestrian with ID 42 is 27.8 meters away at (2.8, -27.7). A vehicle with ID 51 is 28.6 meters away at (-24.4, 14.9). A pedestrian with ID 46 is 29.2 meters away at (-28.2, 7.7). A vehicle with ID 47 is 30.2 meters away at (-29.6, -5.8).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.6375262   0.40373155] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.41208908  0.29471335] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.8557975  0.9649911] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.098477 -4.28179 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00603816  0.01458348] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.1217743  0.06486859] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.7516493 -4.449895 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2554078   0.91371626] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (1.0, 3.0). A vehicle with ID 39 is 9.3 meters away at (-5.8, 7.4). A vehicle with ID 45 is 18.5 meters away at (-14.6, 11.3). A vehicle with ID 51 is 20.8 meters away at (-20.7, 1.6). A vehicle with ID 56 is 21.4 meters away at (-13.8, 16.4). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.5). A pedestrian with ID 42 is 28.2 meters away at (5.3, -27.7). A vehicle with ID 47 is 30.1 meters away at (-29.6, -5.9). A vehicle with ID 49 is 30.8 meters away at (-3.2, 30.6). A cyclist with ID 48 is 31.1 meters away at (-31.0, 1.7).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.8233698  0.5412536] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.2932043  0.9712296] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.88290626  1.1254381 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.2909337 -8.521016 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.8724396  3.4769983] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00594595 -0.00225248] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3616349  -0.06158243] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-0.00760021 -0.05004651] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.8) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 66 is 9.0 meters away at (-3.0, -8.4). A vehicle with ID 68 is 11.0 meters away at (-10.8, -2.1). A vehicle with ID 70 is 16.1 meters away at (-14.7, -6.5). A vehicle with ID 71 is 17.9 meters away at (-9.1, -15.4). A vehicle with ID 67 is 20.5 meters away at (-1.1, 20.5). A vehicle with ID 73 is 20.9 meters away at (-18.0, -10.7). A vehicle with ID 74 is 22.7 meters away at (-12.4, -19.0). A vehicle with ID 77 is 23.3 meters away at (-6.4, 22.4). A vehicle with ID 69 is 24.6 meters away at (24.6, 1.0). A vehicle with ID 88 is 25.4 meters away at (23.7, 9.1).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-2.6234438  0.7452449] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.7) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 66 is 16.0 meters away at (-7.8, -14.0). A vehicle with ID 67 is 16.1 meters away at (-5.9, 15.0). A vehicle with ID 68 is 17.4 meters away at (-15.6, -7.7). A vehicle with ID 88 is 17.4 meters away at (16.9, 4.2). A vehicle with ID 69 is 20.3 meters away at (19.8, -4.4). A vehicle with ID 77 is 20.3 meters away at (-11.2, 16.9). A vehicle with ID 70 is 22.9 meters away at (-19.5, -12.0). A pedestrian with ID 23 is 23.3 meters away at (7.5, 22.1). A vehicle with ID 71 is 25.1 meters away at (-13.9, -20.9). A pedestrian with ID 65 is 26.1 meters away at (24.9, 7.7).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-1.0128012   0.13060659] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01300013 -0.00056611] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0020368  -0.27292827] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 88 is 6.4 meters away at (3.8, -5.1). A pedestrian with ID 23 is 13.1 meters away at (-0.2, 13.1). A vehicle with ID 67 is 15.0 meters away at (-13.7, 6.0). A vehicle with ID 69 is 18.0 meters away at (12.0, -13.4). A pedestrian with ID 65 is 19.3 meters away at (19.2, -2.1). A pedestrian with ID 64 is 19.8 meters away at (19.7, -1.4). A pedestrian with ID 43 is 20.5 meters away at (15.9, 12.9). A vehicle with ID 77 is 20.5 meters away at (-18.9, 8.0). A vehicle with ID 60 is 21.0 meters away at (7.8, 19.5). A vehicle with ID 72 is 23.7 meters away at (17.9, -15.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [-4.597278   -0.82954305] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01163947  0.0665689 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0734668  -0.27529755] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.1052998  -0.22235923] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.01126604 0.02845342] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.5) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A unknown object with ID 39 is 2.4 meters away at (2.4, -0.5). A unknown object with ID 50 is 3.2 meters away at (2.5, -2.1). A vehicle with ID 60 is 8.9 meters away at (-1.3, 8.8). A pedestrian with ID 23 is 9.8 meters away at (-9.4, 2.5). A unknown object with ID 20 is 11.3 meters away at (8.9, 7.0). A vehicle with ID 61 is 13.5 meters away at (2.7, 13.2). A pedestrian with ID 64 is 17.8 meters away at (12.7, -12.5). A pedestrian with ID 65 is 18.1 meters away at (12.3, -13.3). A unknown object with ID 58 is 19.5 meters away at (14.3, 13.3). A vehicle with ID 62 is 19.6 meters away at (6.9, 18.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.02427831 0.01181064] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.0754976  -0.22157434] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1253253  -0.14564504] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 1.6) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 15.8 meters away at (-15.7, 1.4). A vehicle with ID 34 is 19.7 meters away at (-19.6, 1.8). A vehicle with ID 2 is 26.4 meters away at (25.8, 5.3). A vehicle with ID 31 is 33.9 meters away at (25.5, -22.3). A unknown object with ID 36 is 35.6 meters away at (-28.2, 21.8). A vehicle with ID 33 is 35.7 meters away at (30.2, -19.1). A unknown object with ID 37 is 36.4 meters away at (-29.5, 21.3). A unknown object with ID 38 is 37.4 meters away at (-30.6, 21.6).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.01094383 -0.09872404] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.571172  -3.5775633] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.2969912 -4.6450853] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.4) m/s. Its current heading (yaw) is 2.87 radians with an angular velocity of 2.87 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 6.2 meters away at (-5.9, -1.9). A vehicle with ID 34 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 36 is 26.2 meters away at (-18.3, 18.7). A unknown object with ID 38 is 27.7 meters away at (-20.7, 18.4). A vehicle with ID 2 is 27.9 meters away at (27.6, -3.5). A vehicle with ID 31 is 43.6 meters away at (35.3, -25.6). A vehicle with ID 33 is 52.0 meters away at (39.6, -33.7).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00275673 -0.00572231] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.1336346 -1.2351354] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.30498266 -6.5311036 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.1) m/s. Its current heading (yaw) is 2.95 radians with an angular velocity of 2.95 rad/s.

The most relevant actors are: A vehicle with ID 34 is 4.2 meters away at (1.3, -4.0). A pedestrian with ID 32 is 6.7 meters away at (5.2, -4.1). A vehicle with ID 2 is 28.3 meters away at (27.9, -5.2). A vehicle with ID 31 is 54.3 meters away at (46.4, -28.2).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07593254 0.10144311] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.8337264  1.3966566] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.7) m/s. Its current heading (yaw) is 3.03 radians with an angular velocity of 3.03 rad/s.

The most relevant actors are: A vehicle with ID 34 is 14.8 meters away at (13.6, -6.0). A vehicle with ID 2 is 28.1 meters away at (27.7, -4.3).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.500073  1.401302] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -10.8) m/s. Its current heading (yaw) is -0.97 radians with an angular velocity of -0.97 rad/s.

The most relevant actors are: A vehicle with ID 3 is 41.1 meters away at (-20.4, 35.7). A vehicle with ID 4 is 60.7 meters away at (-40.7, 45.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -11.5) m/s. Its current heading (yaw) is -1.08 radians with an angular velocity of -1.08 rad/s.

The most relevant actors are: A vehicle with ID 3 is 67.1 meters away at (-34.3, 57.7). A vehicle with ID 1 is 67.7 meters away at (32.9, -59.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.3) m/s. Its current heading (yaw) is -1.17 radians with an angular velocity of -1.17 rad/s.

The most relevant actors are: A vehicle with ID 1 is 41.3 meters away at (21.6, -35.3). A pedestrian with ID 2 is 51.8 meters away at (29.1, -42.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.1833067  0.26095554] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.7) m/s. Its current heading (yaw) is -1.17 radians with an angular velocity of -1.17 rad/s.

The most relevant actors are: A vehicle with ID 1 is 15.0 meters away at (11.0, -10.2). A pedestrian with ID 2 is 24.5 meters away at (17.6, -17.2).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.29840598  0.18808126] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A unknown object with ID 42 is 49.5 meters away at (-37.1, 32.8). A unknown object with ID 39 is 50.5 meters away at (-39.1, 31.9). A unknown object with ID 37 is 52.1 meters away at (-41.4, 31.6). A unknown object with ID 38 is 54.0 meters away at (-43.2, 32.3). A unknown object with ID 40 is 55.9 meters away at (-45.0, 33.3). A unknown object with ID 41 is 57.3 meters away at (-46.3, 33.7). A vehicle with ID 44 is 58.3 meters away at (-45.7, 36.1). A unknown object with ID 43 is 59.7 meters away at (-48.5, 34.8). A unknown object with ID 3 is 61.3 meters away at (-50.0, 35.6). A unknown object with ID 1 is 62.5 meters away at (-50.7, 36.6).

The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 3.2) m/s. Its current heading (yaw) is 2.75 radians with an angular velocity of 2.75 rad/s.

The most relevant actors are: A unknown object with ID 35 is 23.7 meters away at (2.2, 23.6). A unknown object with ID 33 is 24.9 meters away at (-0.2, 24.9). A unknown object with ID 42 is 34.6 meters away at (-22.2, 26.6). A unknown object with ID 39 is 35.3 meters away at (-24.1, 25.7). A unknown object with ID 37 is 36.6 meters away at (-26.4, 25.4). A unknown object with ID 38 is 38.5 meters away at (-28.3, 26.1). A unknown object with ID 40 is 40.4 meters away at (-30.0, 27.0). A unknown object with ID 41 is 41.7 meters away at (-31.4, 27.4). A vehicle with ID 44 is 43.1 meters away at (-30.9, 30.0). A unknown object with ID 43 is 44.1 meters away at (-33.5, 28.6).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A unknown object with ID 39 is 21.4 meters away at (-8.9, 19.4). A unknown object with ID 42 is 21.4 meters away at (-7.0, 20.3). A unknown object with ID 37 is 22.1 meters away at (-11.2, 19.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8). A unknown object with ID 33 is 23.9 meters away at (15.1, 18.5). A unknown object with ID 35 is 24.5 meters away at (17.5, 17.2). A unknown object with ID 40 is 25.5 meters away at (-14.8, 20.8). A unknown object with ID 41 is 26.7 meters away at (-16.2, 21.2). A vehicle with ID 44 is 28.4 meters away at (-15.7, 23.7). A unknown object with ID 43 is 28.8 meters away at (-18.3, 22.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 2.8) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A unknown object with ID 37 is 13.3 meters away at (2.8, 13.0). A unknown object with ID 38 is 13.8 meters away at (0.9, 13.8). A unknown object with ID 39 is 14.3 meters away at (5.1, 13.3). A unknown object with ID 40 is 14.7 meters away at (-0.8, 14.7). A unknown object with ID 41 is 15.3 meters away at (-2.2, 15.1). A unknown object with ID 42 is 15.9 meters away at (7.0, 14.2). A unknown object with ID 43 is 16.8 meters away at (-4.3, 16.2). A vehicle with ID 31 is 17.1 meters away at (-7.0, 15.6). A vehicle with ID 44 is 17.8 meters away at (-1.7, 17.7). A unknown object with ID 3 is 18.0 meters away at (-5.7, 17.1).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [12.561036 -5.222763] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.8) m/s. Its current heading (yaw) is 0.53 radians with an angular velocity of 0.53 rad/s.

The most relevant actors are: A cyclist with ID 38 is 19.4 meters away at (13.5, 13.9). A vehicle with ID 40 is 22.4 meters away at (-1.0, -22.3). A pedestrian with ID 42 is 30.0 meters away at (-13.4, -26.8). A pedestrian with ID 43 is 30.0 meters away at (-12.7, -27.1). A unknown object with ID 13 is 33.1 meters away at (29.6, -14.8). A unknown object with ID 50 is 33.1 meters away at (31.6, -10.0). A vehicle with ID 41 is 34.2 meters away at (0.3, -34.2). A unknown object with ID 51 is 34.4 meters away at (29.9, -17.0). A pedestrian with ID 45 is 35.6 meters away at (-15.5, -32.0). A vehicle with ID 37 is 37.2 meters away at (-36.6, 6.5).

The cyclist with ID 38 is traveling at a (x, y) velocity of [3.6315775 8.675071 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.6683443 -4.0709815] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.30731595 0.46544838] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.3664565 0.5551806] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.8185078 -5.4112544] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.78664964 -1.0278257 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.5585866 -2.9920607] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.3) m/s. Its current heading (yaw) is 0.96 radians with an angular velocity of 0.96 rad/s.

The most relevant actors are: A pedestrian with ID 31 is 12.5 meters away at (-1.2, 12.4). A vehicle with ID 37 is 28.9 meters away at (-28.6, -4.4). A unknown object with ID 50 is 30.3 meters away at (26.2, -15.0). A unknown object with ID 13 is 31.4 meters away at (24.3, -19.8). A cyclist with ID 38 is 32.5 meters away at (15.7, 28.4). A unknown object with ID 51 is 33.1 meters away at (24.6, -22.1). A pedestrian with ID 43 is 36.5 meters away at (-18.0, -31.8). A pedestrian with ID 42 is 36.7 meters away at (-18.7, -31.6). A vehicle with ID 40 is 37.0 meters away at (-5.4, -36.6). A pedestrian with ID 52 is 44.0 meters away at (3.3, -43.8).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.52443296 1.1462998 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 5.7359924 -2.2179737] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 3.852272 10.482231] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0183848   0.02220686] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.02385666  0.00578638] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.71089154 -4.7812905 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.01241669 0.00758312] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.7) m/s. Its current heading (yaw) is 1.15 radians with an angular velocity of 1.15 rad/s.

The most relevant actors are: A vehicle with ID 37 is 27.8 meters away at (-23.5, -14.9). A unknown object with ID 50 is 31.5 meters away at (22.0, -22.5). A unknown object with ID 13 is 33.9 meters away at (20.1, -27.3). A unknown object with ID 51 is 35.9 meters away at (20.4, -29.5). A pedestrian with ID 43 is 45.1 meters away at (-22.1, -39.2). A pedestrian with ID 42 is 45.1 meters away at (-22.4, -39.1). A pedestrian with ID 62 is 46.4 meters away at (11.6, 44.9). A pedestrian with ID 60 is 46.7 meters away at (13.3, 44.8). A cyclist with ID 38 is 47.2 meters away at (19.5, 43.0). A pedestrian with ID 63 is 47.3 meters away at (11.8, 45.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.89755    -0.67312473] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.0449307  -0.01020992] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.05461572 -0.009309  ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3863971  -0.04125324] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.409761    0.32703477] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 4.2179246 11.439051 ] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.286624   0.0094133] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 4.7) m/s. Its current heading (yaw) is 1.18 radians with an angular velocity of 1.18 rad/s.

The most relevant actors are: A pedestrian with ID 25 is 7.2 meters away at (-7.1, 0.9). A vehicle with ID 37 is 31.4 meters away at (-20.2, -24.0). A unknown object with ID 50 is 36.4 meters away at (18.2, -31.5). A pedestrian with ID 62 is 36.7 meters away at (4.8, 36.4). A pedestrian with ID 60 is 37.3 meters away at (6.7, 36.7). A pedestrian with ID 63 is 37.5 meters away at (5.3, 37.1). A pedestrian with ID 14 is 42.4 meters away at (33.0, 26.5). A vehicle with ID 4 is 47.2 meters away at (-43.1, -19.5). A pedestrian with ID 43 is 54.9 meters away at (-25.9, -48.4). A pedestrian with ID 42 is 54.9 meters away at (-26.3, -48.2).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.6208602 1.2235613] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [3.7394094 0.7031784] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2356111  0.5687662] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.3352621   0.47897324] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.2019999  0.5656914] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04441084  0.00080242] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 7.176956 -2.73146 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.04701344 -0.01566129] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.05284016  0.01755015] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.4) m/s. Its current heading (yaw) is -2.31 radians with an angular velocity of -2.31 rad/s.

The most relevant actors are: A unknown object with ID 15 is 14.0 meters away at (13.9, 1.8). A unknown object with ID 17 is 15.7 meters away at (15.2, 3.8). A unknown object with ID 18 is 17.0 meters away at (16.1, 5.6). A unknown object with ID 16 is 18.9 meters away at (17.6, 6.8). A unknown object with ID 8 is 29.9 meters away at (9.0, -28.5). A vehicle with ID 24 is 35.4 meters away at (-34.1, -9.8). A cyclist with ID 26 is 37.4 meters away at (-35.0, -13.2). A vehicle with ID 28 is 40.5 meters away at (-40.3, -3.6). A unknown object with ID 21 is 42.2 meters away at (33.1, 26.3). A unknown object with ID 7 is 43.7 meters away at (34.4, 26.9).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00105799 -0.00911833] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.7) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A unknown object with ID 15 is 22.1 meters away at (20.2, 8.8). A unknown object with ID 17 is 24.1 meters away at (21.6, 10.8). A unknown object with ID 18 is 25.8 meters away at (22.5, 12.6). A unknown object with ID 16 is 27.7 meters away at (24.0, 13.8). A vehicle with ID 24 is 27.9 meters away at (-27.8, -2.5). A cyclist with ID 26 is 29.3 meters away at (-28.7, -5.9). A vehicle with ID 28 is 34.1 meters away at (-33.9, 3.7). A vehicle with ID 27 is 38.1 meters away at (-6.5, -37.5). A cyclist with ID 14 is 38.7 meters away at (-38.1, 6.8). A vehicle with ID 29 is 41.7 meters away at (-8.3, -40.8).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.03230302  0.03902192] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [0.0291296  0.03030999] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.5698788   0.50549746] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A vehicle with ID 24 is 25.2 meters away at (-25.2, 0.7). A unknown object with ID 15 is 25.8 meters away at (22.8, 12.1). A cyclist with ID 26 is 26.2 meters away at (-26.1, -2.7). A unknown object with ID 17 is 28.0 meters away at (24.2, 14.1). A unknown object with ID 18 is 29.7 meters away at (25.1, 15.8). A unknown object with ID 16 is 31.6 meters away at (26.6, 17.0). A vehicle with ID 28 is 32.1 meters away at (-31.3, 6.9). A vehicle with ID 27 is 34.5 meters away at (-3.9, -34.3). A cyclist with ID 14 is 36.9 meters away at (-35.5, 10.1). A vehicle with ID 29 is 37.8 meters away at (-5.9, -37.4).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00187983 -0.00629992] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [ 0.01920579 -0.03860158] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A vehicle with ID 24 is 24.9 meters away at (-24.9, 0.9). A cyclist with ID 26 is 25.9 meters away at (-25.7, -2.6). A unknown object with ID 15 is 26.2 meters away at (23.1, 12.3). A unknown object with ID 17 is 28.3 meters away at (24.4, 14.3). A unknown object with ID 18 is 29.9 meters away at (25.2, 16.0). A vehicle with ID 28 is 31.9 meters away at (-31.1, 7.1). A vehicle with ID 27 is 34.2 meters away at (-3.7, -34.0). A vehicle with ID 1 is 36.0 meters away at (2.7, -35.9). A cyclist with ID 14 is 36.8 meters away at (-35.3, 10.3). A vehicle with ID 29 is 37.3 meters away at (-5.9, -36.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.5265211  -0.41545025] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.330191    0.32214403] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.0713336  2.8809943] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [-0.03652999 -0.02672538] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.68106836  0.67040974] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.4) m/s. Its current heading (yaw) is 2.03 radians with an angular velocity of 2.03 rad/s.

The most relevant actors are: A vehicle with ID 57 is 8.6 meters away at (7.4, 4.5). A pedestrian with ID 58 is 9.6 meters away at (5.2, 8.1). A unknown object with ID 59 is 10.7 meters away at (-0.4, 10.7). A pedestrian with ID 60 is 11.5 meters away at (-4.3, 10.7). A vehicle with ID 64 is 13.6 meters away at (-1.7, 13.5). A vehicle with ID 20 is 14.3 meters away at (-3.3, -13.9). A vehicle with ID 55 is 16.3 meters away at (-1.8, -16.2). A vehicle with ID 52 is 17.1 meters away at (-9.2, 14.4). A vehicle with ID 56 is 18.2 meters away at (0.3, -18.2). A unknown object with ID 45 is 19.2 meters away at (19.1, -2.2).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.93017167 0.7441271 ] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5246306 0.7027307] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.8603677 1.322028 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A pedestrian with ID 60 is 5.7 meters away at (2.2, 5.3). A unknown object with ID 59 is 6.4 meters away at (5.0, 4.1). A vehicle with ID 64 is 7.8 meters away at (3.6, 7.0). A vehicle with ID 52 is 8.7 meters away at (-3.8, 7.8). A pedestrian with ID 58 is 13.1 meters away at (12.8, 2.9). A vehicle with ID 57 is 13.3 meters away at (13.2, -1.8). A vehicle with ID 20 is 17.7 meters away at (4.6, -17.1). A vehicle with ID 55 is 23.2 meters away at (3.6, -22.9). A pedestrian with ID 68 is 23.2 meters away at (-9.6, -21.2). A vehicle with ID 53 is 24.3 meters away at (-14.4, 19.6).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5683521 0.4088811] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.9055052  0.58207583] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [1.3291494 1.8813072] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.81588703 1.1313401 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.4) m/s. Its current heading (yaw) is 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A vehicle with ID 52 is 5.1 meters away at (4.9, 1.3). A pedestrian with ID 54 is 14.0 meters away at (-7.6, 11.8). A vehicle with ID 53 is 14.4 meters away at (-5.9, 13.1). A vehicle with ID 51 is 17.9 meters away at (-11.6, 13.7). A vehicle with ID 57 is 23.5 meters away at (22.0, -8.3). A vehicle with ID 20 is 26.0 meters away at (15.0, -21.2). A vehicle with ID 55 is 31.8 meters away at (12.3, -29.3). A vehicle with ID 56 is 34.5 meters away at (14.5, -31.3). A unknown object with ID 92 is 41.8 meters away at (-32.8, 25.9). A vehicle with ID 78 is 51.3 meters away at (-44.9, 24.8).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.17246883 -0.5682704 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.5863398  0.97234905] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.3) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 3.7 meters away at (1.2, 3.5). A vehicle with ID 53 is 7.3 meters away at (3.3, 6.4). A vehicle with ID 51 is 7.4 meters away at (-2.4, 7.0). A vehicle with ID 52 is 15.2 meters away at (14.2, -5.4). A unknown object with ID 92 is 30.4 meters away at (-23.6, 19.1). A unknown object with ID 44 is 34.5 meters away at (-34.3, 3.1). A vehicle with ID 20 is 35.6 meters away at (25.4, -24.9). A vehicle with ID 78 is 40.0 meters away at (-35.7, 18.0). A unknown object with ID 6 is 41.2 meters away at (-38.6, 14.6). A unknown object with ID 8 is 42.4 meters away at (-40.8, 11.6).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.48935398 -0.8694238 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.18848047 2.424596  ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -1.9) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A unknown object with ID 71 is 18.7 meters away at (-5.4, -17.9). A unknown object with ID 20 is 19.4 meters away at (-1.7, -19.3). A unknown object with ID 43 is 21.0 meters away at (2.1, -20.9). A unknown object with ID 16 is 22.9 meters away at (5.4, -22.2). A unknown object with ID 68 is 24.9 meters away at (8.1, -23.5). A unknown object with ID 72 is 26.6 meters away at (10.4, -24.5). A unknown object with ID 74 is 28.1 meters away at (12.2, -25.3). A unknown object with ID 75 is 29.6 meters away at (14.0, -26.1). A unknown object with ID 76 is 31.0 meters away at (15.5, -26.8). A vehicle with ID 73 is 45.2 meters away at (-28.6, 35.0).

The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A unknown object with ID 16 is 19.1 meters away at (-6.0, -18.1). A unknown object with ID 43 is 19.2 meters away at (-9.4, -16.8). A unknown object with ID 45 is 19.4 meters away at (-16.5, 10.1). A unknown object with ID 68 is 19.6 meters away at (-3.3, -19.4). A unknown object with ID 20 is 20.1 meters away at (-13.2, -15.2). A unknown object with ID 72 is 20.3 meters away at (-1.1, -20.3). A unknown object with ID 74 is 21.1 meters away at (0.7, -21.1). A unknown object with ID 71 is 21.7 meters away at (-16.8, -13.7). A unknown object with ID 75 is 22.0 meters away at (2.6, -21.9). A unknown object with ID 76 is 23.0 meters away at (4.1, -22.6).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.1) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A unknown object with ID 75 is 19.3 meters away at (-8.3, -17.5). A unknown object with ID 76 is 19.4 meters away at (-6.8, -18.2). A unknown object with ID 74 is 19.6 meters away at (-10.2, -16.7). A unknown object with ID 72 is 19.9 meters away at (-12.0, -15.9). A unknown object with ID 68 is 20.6 meters away at (-14.2, -15.0). A unknown object with ID 16 is 21.8 meters away at (-16.9, -13.7). A unknown object with ID 43 is 23.7 meters away at (-20.2, -12.3). A unknown object with ID 20 is 26.3 meters away at (-24.0, -10.8). A unknown object with ID 29 is 26.7 meters away at (0.3, -26.7). A unknown object with ID 71 is 29.2 meters away at (-27.7, -9.3).

The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.4) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A unknown object with ID 76 is 21.8 meters away at (-16.4, -14.3). A unknown object with ID 75 is 22.5 meters away at (-17.9, -13.6). A unknown object with ID 74 is 23.6 meters away at (-19.8, -12.8). A pedestrian with ID 79 is 24.4 meters away at (7.3, -23.2). A unknown object with ID 29 is 24.6 meters away at (-9.4, -22.8). A unknown object with ID 72 is 24.7 meters away at (-21.6, -12.0). A unknown object with ID 68 is 26.3 meters away at (-23.8, -11.0). A unknown object with ID 16 is 28.3 meters away at (-26.6, -9.7). A vehicle with ID 85 is 29.8 meters away at (29.5, -4.4). A vehicle with ID 52 is 30.8 meters away at (-9.6, -29.3).

The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.36853614 -1.185233  ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.8) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A unknown object with ID 79 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 61 is 14.3 meters away at (1.2, 14.3). A unknown object with ID 78 is 14.4 meters away at (-12.9, 6.3). A unknown object with ID 76 is 17.1 meters away at (-15.1, 7.9). A unknown object with ID 77 is 25.7 meters away at (-22.4, 12.6). A vehicle with ID 48 is 30.6 meters away at (25.7, -16.6). A unknown object with ID 80 is 31.5 meters away at (-27.2, 15.8). A pedestrian with ID 46 is 36.5 meters away at (-36.4, -2.5). A pedestrian with ID 10 is 37.5 meters away at (-21.3, 30.9). A vehicle with ID 97 is 38.4 meters away at (-37.1, 10.0).

The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2486793  0.758521 ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.605412  4.386242] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.3888717 -0.766901 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0801425  0.6304904] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [ 9.934267  -6.2639923] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 4.5) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A unknown object with ID 76 is 1.7 meters away at (-1.1, -1.3). A unknown object with ID 78 is 3.1 meters away at (1.0, -2.9). A unknown object with ID 79 is 8.5 meters away at (5.0, -6.9). A unknown object with ID 77 is 9.0 meters away at (-8.3, 3.4). A vehicle with ID 97 is 12.5 meters away at (-2.9, -12.2). A pedestrian with ID 61 is 14.5 meters away at (12.8, 6.8). A unknown object with ID 80 is 14.7 meters away at (-13.2, 6.5). A unknown object with ID 88 is 18.3 meters away at (-11.0, 14.6). A unknown object with ID 2 is 23.8 meters away at (-16.6, 17.0). A pedestrian with ID 46 is 23.8 meters away at (-19.7, -13.4).

The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [10.270147 -6.610425] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.1379019  0.9102725] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2139137  -0.66801536] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.0) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A unknown object with ID 80 is 1.8 meters away at (-0.7, -1.6). A unknown object with ID 77 is 6.2 meters away at (4.1, -4.7). A unknown object with ID 88 is 6.7 meters away at (1.4, 6.5). A unknown object with ID 3 is 8.2 meters away at (4.5, 6.8). A unknown object with ID 2 is 9.8 meters away at (-4.1, 8.9). A unknown object with ID 76 is 14.8 meters away at (11.3, -9.4). A pedestrian with ID 10 is 15.4 meters away at (3.1, 15.1). A pedestrian with ID 28 is 15.6 meters away at (-7.2, 13.9). A pedestrian with ID 5 is 17.4 meters away at (-14.4, -9.8). A unknown object with ID 7 is 17.5 meters away at (-5.4, 16.6).

The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.4830601   0.24388085] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.7783216  0.3967656] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.2390701   0.16455974] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A unknown object with ID 80 is 4.5 meters away at (2.6, -3.7). A unknown object with ID 88 is 6.4 meters away at (4.7, 4.3). A unknown object with ID 2 is 6.8 meters away at (-0.9, 6.7). A unknown object with ID 3 is 9.1 meters away at (7.8, 4.7). A unknown object with ID 77 is 10.0 meters away at (7.4, -6.8). A vehicle with ID 117 is 12.9 meters away at (-10.7, -7.2). A pedestrian with ID 28 is 14.5 meters away at (-6.8, 12.8). A pedestrian with ID 10 is 14.6 meters away at (5.6, 13.5). A unknown object with ID 7 is 14.6 meters away at (-2.2, 14.5). A unknown object with ID 9 is 14.9 meters away at (-4.8, 14.1).

The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [10.581362  -6.9759665] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2803109   0.78991604] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.44350547  0.3847352 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -4.5) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A unknown object with ID 69 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 59 is 11.4 meters away at (10.0, -5.3). A unknown object with ID 72 is 12.4 meters away at (5.6, -11.0). A vehicle with ID 66 is 14.6 meters away at (-12.9, 6.8). A unknown object with ID 61 is 19.0 meters away at (16.4, -9.6). A unknown object with ID 63 is 24.1 meters away at (15.6, -18.4). A pedestrian with ID 76 is 28.6 meters away at (27.1, -9.3). A pedestrian with ID 70 is 29.1 meters away at (27.8, -8.8). A vehicle with ID 68 is 29.4 meters away at (-25.6, 14.5). A vehicle with ID 74 is 30.3 meters away at (8.3, 29.2).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.9778511  0.7712463] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.9854655  0.7864413] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.7) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A unknown object with ID 59 is 3.9 meters away at (-0.6, 3.9). A unknown object with ID 72 is 5.4 meters away at (-5.1, -1.8). A unknown object with ID 61 is 5.6 meters away at (5.6, -0.4). A unknown object with ID 63 is 10.4 meters away at (4.9, -9.2). A unknown object with ID 69 is 10.6 meters away at (-10.2, 3.0). A pedestrian with ID 76 is 14.6 meters away at (14.5, 1.6). A pedestrian with ID 70 is 15.3 meters away at (15.1, 2.1). A unknown object with ID 58 is 23.1 meters away at (18.9, -13.4). A unknown object with ID 64 is 26.0 meters away at (17.1, -19.6). A vehicle with ID 66 is 28.5 meters away at (-23.5, 16.0).

The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0007826   0.75792164] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0426018   0.74825674] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.6) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A unknown object with ID 63 is 6.0 meters away at (-5.9, 0.2). A vehicle with ID 35 is 6.9 meters away at (1.2, 6.8). A pedestrian with ID 14 is 8.9 meters away at (8.7, -1.9). A unknown object with ID 58 is 9.0 meters away at (8.0, -4.0). A unknown object with ID 61 is 10.4 meters away at (-5.2, 9.0). A unknown object with ID 64 is 11.9 meters away at (6.2, -10.2). A pedestrian with ID 24 is 12.3 meters away at (9.3, 8.0). A pedestrian with ID 76 is 12.7 meters away at (1.7, 12.6). A pedestrian with ID 70 is 13.2 meters away at (2.4, 12.9). A unknown object with ID 59 is 17.6 meters away at (-11.5, 13.3).

The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01786503 -0.00315036] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.0231592  0.00591802] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.76457524  0.83079785] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.66908294  0.76489204] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -4.2) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A unknown object with ID 64 is 4.1 meters away at (-3.9, -1.4). A unknown object with ID 58 is 5.2 meters away at (-2.1, 4.8). A unknown object with ID 8 is 6.4 meters away at (1.7, -6.2). A pedestrian with ID 14 is 7.0 meters away at (-1.4, 6.8). A unknown object with ID 60 is 8.2 meters away at (7.6, -3.1). A vehicle with ID 53 is 8.9 meters away at (-1.6, 8.8). A unknown object with ID 62 is 12.4 meters away at (10.9, -5.9). A pedestrian with ID 39 is 15.4 meters away at (0.9, 15.3). A vehicle with ID 65 is 15.8 meters away at (15.2, -4.3). A unknown object with ID 5 is 16.6 meters away at (14.2, -8.7).

The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02406691 0.00144119] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00303349 -0.00010246] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 6.4 meters away at (2.9, 5.6). A vehicle with ID 34 is 8.4 meters away at (-5.1, 6.7). A vehicle with ID 42 is 12.5 meters away at (-4.0, -11.8). A vehicle with ID 48 is 14.7 meters away at (-11.2, 9.6). A pedestrian with ID 55 is 15.6 meters away at (-0.8, 15.6). A vehicle with ID 50 is 16.3 meters away at (-9.3, 13.4). A vehicle with ID 46 is 17.1 meters away at (11.4, -12.8). A unknown object with ID 35 is 18.1 meters away at (-8.5, -15.9). A unknown object with ID 37 is 18.6 meters away at (-7.7, -17.0). A unknown object with ID 6 is 18.9 meters away at (-11.6, -15.0).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0028199  -0.00024742] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.4166274 -7.460679 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6533117  0.9238441] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.99275625  2.6818104 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching