The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.6) 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 vehicle with ID 19 is 44.8 meters away at (35.3, 27.6). A vehicle with ID 10 is 57.0 meters away at (42.3, -38.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.88332283 17.851107  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.2679534 14.692265 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.7) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 10 is 53.2 meters away at (50.1, -18.1). A vehicle with ID 15 is 69.1 meters away at (54.7, -42.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9418672 15.074492 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.635187 14.893356] 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, 4.5) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 15 is 66.6 meters away at (63.2, -20.8). A vehicle with ID 8 is 75.8 meters away at (65.5, -38.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.4993614 15.7022705] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.8001878 15.409956 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.3) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 3.3) m/s. Its current heading (yaw) is 1.63 radians with an angular velocity of 1.63 rad/s.

The most relevant actors are: A vehicle with ID 17 is 24.9 meters away at (23.2, -8.9). A vehicle with ID 18 is 37.7 meters away at (6.7, -37.1). A unknown object with ID 25 is 56.4 meters away at (1.8, -56.4). A unknown object with ID 27 is 58.1 meters away at (2.2, -58.0). A unknown object with ID 28 is 59.8 meters away at (2.1, -59.7). A vehicle with ID 32 is 67.9 meters away at (-1.5, 67.9). A unknown object with ID 14 is 73.6 meters away at (0.5, -73.6). A unknown object with ID 30 is 74.5 meters away at (2.5, -74.5). A vehicle with ID 26 is 75.5 meters away at (4.8, -75.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -0.5571926 -10.024214 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.07325431 -9.386375  ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.0) 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 vehicle with ID 17 is 26.5 meters away at (22.5, -13.9). A unknown object with ID 25 is 61.5 meters away at (1.4, -61.5). A vehicle with ID 32 is 62.2 meters away at (-4.8, 62.0). A vehicle with ID 18 is 62.7 meters away at (5.4, -62.5). A unknown object with ID 27 is 63.3 meters away at (1.7, -63.2).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.8837779 -0.8949065] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -0.44390827 -10.49008   ] m/s.The unknown object with ID 27 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 (2.9, 0.6) m/s. Its current heading (yaw) is 0.21 radians with an angular velocity of 0.21 rad/s.

The most relevant actors are: A vehicle with ID 17 is 25.2 meters away at (18.6, -17.1). A vehicle with ID 32 is 59.9 meters away at (-17.7, 57.2). A unknown object with ID 25 is 64.9 meters away at (-2.7, -64.8). A unknown object with ID 27 is 66.6 meters away at (-2.3, -66.5). A unknown object with ID 11 is 69.5 meters away at (-2.0, -69.5). A unknown object with ID 4 is 72.2 meters away at (-2.0, -72.2). A unknown object with ID 8 is 78.0 meters away at (-1.4, -77.9).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.99834    -0.06707452] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.4) m/s. Its current heading (yaw) is -0.45 radians with an angular velocity of -0.45 rad/s.

The most relevant actors are: A vehicle with ID 17 is 20.3 meters away at (12.5, -16.1). A vehicle with ID 1 is 35.2 meters away at (11.5, -33.3). A unknown object with ID 25 is 64.4 meters away at (-9.1, -63.7). A vehicle with ID 32 is 72.9 meters away at (-37.8, 62.3). A unknown object with ID 12 is 73.2 meters away at (-8.4, -72.7). A unknown object with ID 3 is 74.7 meters away at (-8.4, -74.2). A unknown object with ID 7 is 76.1 meters away at (-8.2, -75.6). A unknown object with ID 8 is 77.5 meters away at (-8.2, -77.0).

The vehicle with ID 17 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.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.9862156  4.501259 ] m/s.The unknown object with ID 12 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 7 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.0) m/s. Its current heading (yaw) is 1.32 radians with an angular velocity of 1.32 rad/s.

The most relevant actors are: A vehicle with ID 9 is 56.4 meters away at (53.5, -17.8).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-12.829979   5.938385] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.3) m/s. Its current heading (yaw) is 1.31 radians with an angular velocity of 1.31 rad/s.

The most relevant actors are: A vehicle with ID 9 is 30.7 meters away at (28.9, -10.4). A unknown object with ID 12 is 46.0 meters away at (-34.4, 30.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.513253   6.016075] m/s.The unknown object with ID 12 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 (0.0, 0.0) m/s. Its current heading (yaw) is 1.32 radians with an angular velocity of 1.32 rad/s.

The most relevant actors are: A vehicle with ID 9 is 9.5 meters away at (9.5, 1.3).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.0174675  6.888874 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 1.5) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 9 is 16.7 meters away at (-8.4, 14.5). A unknown object with ID 6 is 54.4 meters away at (-39.8, 37.1).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.267256   7.4984174] 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


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 1.9) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 44 is 7.2 meters away at (1.1, -7.1). A vehicle with ID 46 is 9.1 meters away at (-8.1, -4.0). A vehicle with ID 55 is 10.4 meters away at (4.0, 9.6). A pedestrian with ID 52 is 11.7 meters away at (7.2, 9.2). A vehicle with ID 45 is 26.2 meters away at (-9.4, 24.4). A vehicle with ID 58 is 27.5 meters away at (16.3, 22.1). A vehicle with ID 39 is 30.1 meters away at (23.4, 18.8). A pedestrian with ID 49 is 33.9 meters away at (8.1, 32.9). A pedestrian with ID 51 is 35.1 meters away at (8.2, 34.1). A vehicle with ID 64 is 37.2 meters away at (-18.3, -32.4).

The vehicle with ID 44 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. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0.480664  1.2075347] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00565782 -0.00640759] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.3769004  0.9692017] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.437552    0.67002267] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1871634  -0.54727554] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.3347057  -0.41713002] m/s.The vehicle with ID 64 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 (0.3, 1.0) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 9.2 meters away at (6.3, 6.7). A vehicle with ID 44 is 9.5 meters away at (0.3, -9.5). A vehicle with ID 46 is 11.0 meters away at (-9.0, -6.4). A vehicle with ID 55 is 12.0 meters away at (5.4, 10.7). A vehicle with ID 58 is 24.3 meters away at (8.7, 22.7). A vehicle with ID 45 is 24.3 meters away at (-10.3, 22.1). A vehicle with ID 39 is 26.5 meters away at (19.5, 17.9). A pedestrian with ID 49 is 31.1 meters away at (9.7, 29.5). A pedestrian with ID 51 is 32.1 meters away at (10.1, 30.5). A vehicle with ID 7 is 32.7 meters away at (26.8, 18.7).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.02824743 -0.01210486] m/s.The vehicle with ID 44 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. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [1.7794544 2.0882826] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2144275  1.7935388] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.8374596   0.86904836] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1685909 -0.6372872] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.193549  -0.6281873] m/s.The vehicle 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 (0.7, 1.9) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 6.4 meters away at (5.2, 3.8). A vehicle with ID 44 is 12.4 meters away at (-0.8, -12.4). A unknown object with ID 16 is 12.7 meters away at (11.2, 6.2). A vehicle with ID 46 is 13.6 meters away at (-10.0, -9.2). A vehicle with ID 55 is 15.4 meters away at (10.1, 11.6). A vehicle with ID 9 is 19.5 meters away at (17.8, 7.9). A vehicle with ID 45 is 22.3 meters away at (-11.3, 19.2). A vehicle with ID 39 is 22.4 meters away at (14.9, 16.8). A vehicle with ID 58 is 23.9 meters away at (-2.1, 23.8). A pedestrian with ID 49 is 27.6 meters away at (11.0, 25.3).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.19293052 0.02705001] m/s.The vehicle with ID 44 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [3.9112427 0.9760107] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.3755666  0.6447558] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.468799   2.1341715] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1478437 -0.756083 ] 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, 1.3) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 5.9 meters away at (5.9, 0.0). A unknown object with ID 16 is 10.3 meters away at (10.0, 2.7). A vehicle with ID 44 is 15.9 meters away at (-2.0, -15.7). A vehicle with ID 46 is 16.9 meters away at (-11.3, -12.6). A vehicle with ID 9 is 17.1 meters away at (16.5, 4.4). A vehicle with ID 39 is 18.3 meters away at (11.1, 14.5). A pedestrian with ID 21 is 18.5 meters away at (-13.5, 12.7). A vehicle with ID 55 is 19.8 meters away at (18.2, 7.7). A vehicle with ID 45 is 20.1 meters away at (-12.5, 15.8). A pedestrian with ID 49 is 23.5 meters away at (12.1, 20.2).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.0853477  0.30475911] m/s.The unknown object with ID 16 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 vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.236753   0.9592239] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.6005032 -0.498043 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 5.009039  -1.2468067] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1941712 -0.6717736] 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, -1.8) m/s. Its current heading (yaw) is -1.76 radians with an angular velocity of -1.76 rad/s.

The most relevant actors are: A vehicle with ID 44 is 13.9 meters away at (-0.9, -13.8). A pedestrian with ID 52 is 18.0 meters away at (-16.6, 6.9). A unknown object with ID 37 is 18.4 meters away at (14.7, -11.1). A pedestrian with ID 46 is 20.1 meters away at (-1.5, 20.0). A pedestrian with ID 47 is 20.2 meters away at (-3.1, 20.0). A pedestrian with ID 48 is 20.5 meters away at (-2.3, 20.4). A pedestrian with ID 49 is 20.8 meters away at (-2.6, 20.7). A pedestrian with ID 50 is 21.0 meters away at (-2.8, 20.8). A pedestrian with ID 51 is 21.6 meters away at (-3.8, 21.3). A pedestrian with ID 53 is 23.9 meters away at (-22.5, 8.0).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.00084   -4.1606536] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.9236101  -0.48468614] m/s.The unknown object with ID 37 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 [0.02315794 0.01813887] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.05208851  0.00391511] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 0.01205554 -0.00016101] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.04528791 -0.00230253] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.01095175 -0.00235061] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00340951 -0.00464835] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.1536645  0.56991  ] 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, -1.7) m/s. Its current heading (yaw) is -1.68 radians with an angular velocity of -1.68 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 16.9 meters away at (-13.9, 9.6). A pedestrian with ID 46 is 23.9 meters away at (-1.2, 23.9). A pedestrian with ID 47 is 23.9 meters away at (-3.9, 23.6). A pedestrian with ID 48 is 24.0 meters away at (-1.5, 24.0). A pedestrian with ID 49 is 24.4 meters away at (-2.0, 24.3). A pedestrian with ID 50 is 24.6 meters away at (-2.2, 24.5). A pedestrian with ID 51 is 25.2 meters away at (-3.0, 25.0). A vehicle with ID 44 is 25.3 meters away at (17.0, -18.7). A pedestrian with ID 53 is 27.4 meters away at (-24.3, 12.7). A pedestrian with ID 54 is 27.7 meters away at (-24.8, 12.2).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 1.1188016  -0.49270305] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.12584975  0.06768118] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.6114048  0.0293368] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.0428608   0.00983195] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.03329025  0.01299043] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00054756  0.00483533] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00838433 -0.00316034] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.48364  -4.378048] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.2034607  0.60598  ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.1919266  0.645714 ] 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, -2.8) m/s. Its current heading (yaw) is -1.13 radians with an angular velocity of -1.13 rad/s.

The most relevant actors are: A vehicle with ID 33 is 17.2 meters away at (-6.4, -15.9). A pedestrian with ID 52 is 17.9 meters away at (-12.3, 13.0). A unknown object with ID 30 is 21.5 meters away at (-13.9, -16.5). A pedestrian with ID 47 is 28.1 meters away at (-5.1, 27.6). A pedestrian with ID 46 is 28.3 meters away at (-1.8, 28.2). A pedestrian with ID 48 is 28.4 meters away at (-2.1, 28.3). A pedestrian with ID 49 is 28.7 meters away at (-2.4, 28.6). A pedestrian with ID 50 is 29.1 meters away at (-2.8, 28.9). A pedestrian with ID 51 is 29.4 meters away at (-3.3, 29.2). A pedestrian with ID 53 is 32.8 meters away at (-27.1, 18.3).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-7.754164  3.385357] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 1.0298897 -0.5577518] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.5602607  -0.38560477] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01417736 0.00470257] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.0131487  0.00830837] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.0693287  -0.01068349] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.03657019 0.08459703] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.00696146 -0.02353027] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.1965888  0.6239426] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.0) m/s. Its current heading (yaw) is -0.45 radians with an angular velocity of -0.45 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 23.4 meters away at (-16.2, 16.9). A vehicle with ID 33 is 28.6 meters away at (-28.4, -3.8). A pedestrian with ID 47 is 33.8 meters away at (-10.9, 32.0). A vehicle with ID 55 is 35.3 meters away at (31.9, -14.9). A pedestrian with ID 53 is 43.1 meters away at (-35.6, 24.3). A pedestrian with ID 54 is 43.2 meters away at (-36.1, 23.6). A vehicle with ID 58 is 44.3 meters away at (40.7, -17.4). A vehicle with ID 44 is 49.1 meters away at (42.6, -24.5). A vehicle with ID 63 is 52.1 meters away at (48.0, -20.5). A pedestrian with ID 26 is 55.2 meters away at (-47.7, 27.8).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.93567073 -0.5969934 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-7.987944   3.4651496] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00480569 -0.11668657] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 3.7908206 -2.6611896] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.2294037   0.39404935] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.2166848   0.41078326] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.9660985  -0.38157278] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.667171 -2.771559] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 2.5532153 -0.9502274] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.7494698 -0.9373712] 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, -1.9) m/s. Its current heading (yaw) is -1.78 radians with an angular velocity of -1.78 rad/s.

The most relevant actors are: A vehicle with ID 59 is 9.4 meters away at (3.5, 8.7). A vehicle with ID 57 is 10.4 meters away at (8.5, 6.0). A vehicle with ID 58 is 11.2 meters away at (1.2, 11.1). A vehicle with ID 60 is 16.2 meters away at (2.8, 16.0). A vehicle with ID 63 is 24.8 meters away at (-24.7, 2.3). A vehicle with ID 55 is 25.2 meters away at (14.2, -20.8). A vehicle with ID 64 is 25.7 meters away at (-16.1, -20.0). A vehicle with ID 62 is 25.8 meters away at (14.0, 21.7). A vehicle with ID 65 is 26.9 meters away at (-26.0, -6.9). A vehicle with ID 66 is 29.1 meters away at (-12.0, -26.5).

The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.57069075 -1.4562963 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -4.5) m/s. Its current heading (yaw) is -1.30 radians with an angular velocity of -1.30 rad/s.

The most relevant actors are: A vehicle with ID 59 is 11.3 meters away at (1.8, 11.2). A vehicle with ID 57 is 15.5 meters away at (8.4, 13.0). A vehicle with ID 58 is 18.2 meters away at (1.1, 18.1). A vehicle with ID 55 is 19.7 meters away at (14.1, -13.9). A vehicle with ID 19 is 20.6 meters away at (5.7, 19.8). A vehicle with ID 64 is 20.9 meters away at (-16.3, -13.0). A vehicle with ID 43 is 21.8 meters away at (19.7, -9.2). A vehicle with ID 66 is 23.0 meters away at (-12.3, -19.5). A vehicle with ID 60 is 23.2 meters away at (2.8, 23.0). A vehicle with ID 65 is 26.1 meters away at (-26.1, 0.2).

The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.0644332 -2.6116338] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 [-0.74933964 -2.093345  ] m/s.The vehicle with ID 64 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 [-4.582161   1.7463251] m/s.The vehicle with ID 66 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 65 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 (4.6, -2.6) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 43 is 8.7 meters away at (8.7, 0.4). A vehicle with ID 55 is 10.2 meters away at (8.0, -6.3). A vehicle with ID 59 is 15.1 meters away at (-7.3, 13.2). A vehicle with ID 57 is 20.7 meters away at (2.2, 20.5). A vehicle with ID 53 is 21.7 meters away at (19.2, -10.1). A vehicle with ID 66 is 21.8 meters away at (-18.2, -12.0). A vehicle with ID 21 is 21.9 meters away at (21.9, -1.8). A vehicle with ID 70 is 22.4 meters away at (-11.3, -19.3). A vehicle with ID 19 is 22.8 meters away at (-2.5, 22.7). A vehicle with ID 64 is 23.1 meters away at (-22.4, -5.5).

The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.3936952  0.5564705] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-2.53955   -3.1588635] m/s.The vehicle with ID 57 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 19 is traveling at a (x, y) velocity of [-1.1044053 -2.7386143] m/s.The vehicle with ID 64 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, -1.8) 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 vehicle with ID 55 is 2.9 meters away at (-1.7, -2.4). A vehicle with ID 43 is 6.4 meters away at (-3.7, 5.2). A vehicle with ID 53 is 11.2 meters away at (9.4, -6.1). A vehicle with ID 21 is 12.2 meters away at (12.0, 2.2). A pedestrian with ID 14 is 14.1 meters away at (9.1, -10.8). A vehicle with ID 52 is 16.6 meters away at (14.6, -7.9). A vehicle with ID 51 is 21.7 meters away at (19.5, -9.6). A vehicle with ID 20 is 22.7 meters away at (22.6, -1.4). A vehicle with ID 19 is 25.6 meters away at (-14.6, 21.1). A vehicle with ID 50 is 27.3 meters away at (24.7, -11.5).

The vehicle with ID 55 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 [-1.2775352   0.48201767] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 [ 0.0093511  -0.00014156] m/s.The vehicle with ID 52 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 20 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 [-0.54743975 -1.4533883 ] m/s.The vehicle with ID 50 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 -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.3). A vehicle with ID 14 is 18.7 meters away at (-12.9, -13.6). A vehicle with ID 22 is 20.4 meters away at (1.4, -20.4). A vehicle with ID 48 is 29.3 meters away at (11.6, -26.9). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 23 is 30.2 meters away at (-8.3, -29.1). A pedestrian with ID 27 is 30.4 meters away at (-9.5, -28.8). A pedestrian with ID 28 is 30.9 meters away at (-9.1, -29.5). A pedestrian with ID 31 is 31.6 meters away at (-6.6, -30.9). A pedestrian with ID 29 is 32.0 meters away at (-21.3, -23.9).

The vehicle with ID 13 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 [-6.2909427  2.387428 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.162339   2.9863732] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-4.7933626  3.7358277] m/s.The vehicle with ID 32 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 [0.01818455 0.01479437] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02496266 -0.00679995] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.01996089 -0.01279943] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00830364 -0.00400314] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03292561 -0.00791688] 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 -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.4). A vehicle with ID 22 is 17.8 meters away at (-8.9, -15.4). A vehicle with ID 48 is 20.3 meters away at (1.7, -20.2). A vehicle with ID 37 is 27.0 meters away at (-19.8, -18.3). A vehicle with ID 14 is 28.4 meters away at (-27.1, -8.4). A pedestrian with ID 23 is 30.2 meters away at (-8.3, -29.0). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 27 is 30.4 meters away at (-9.9, -28.7). A pedestrian with ID 18 is 30.6 meters away at (-8.6, -29.4). A pedestrian with ID 28 is 30.9 meters away at (-9.4, -29.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.2883744  2.1608572] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-5.4734373  3.0148516] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [11.877533  -4.8630385] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-8.297812   2.7756755] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01194953 -0.00952459] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.21481127  0.06772958] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.04420226 0.05733893] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.04694597  0.01771579] 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 -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.3, 6.3). A vehicle with ID 48 is 17.9 meters away at (-9.5, -15.2). A vehicle with ID 38 is 21.9 meters away at (-3.4, -21.7). A vehicle with ID 22 is 22.7 meters away at (-19.6, -11.4). A vehicle with ID 46 is 27.2 meters away at (9.7, -25.3). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 23 is 30.2 meters away at (-8.4, -29.0). A vehicle with ID 37 is 30.2 meters away at (2.4, -30.1). A pedestrian with ID 18 is 30.3 meters away at (-8.6, -29.1). A pedestrian with ID 27 is 30.4 meters away at (-10.1, -28.7).

The vehicle with ID 13 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 [-5.16777    1.8951994] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.9625144   0.73289055] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.9512243  2.0835054] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-3.6564639  2.752527 ] m/s.The vehicle with ID 32 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 [-0.03619487  0.0042491 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [10.600164  -7.0592256] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [3.8492733e-05 1.5926555e-02] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00497598  0.00322013] 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 -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.3). A vehicle with ID 48 is 22.6 meters away at (-19.3, -11.8). A vehicle with ID 46 is 23.2 meters away at (5.8, -22.5). A vehicle with ID 38 is 26.7 meters away at (-12.3, -23.7). A pedestrian with ID 15 is 30.2 meters away at (-10.0, -28.5). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 27 is 30.3 meters away at (-10.0, -28.6). A vehicle with ID 20 is 30.4 meters away at (12.3, -27.8). A pedestrian with ID 18 is 30.4 meters away at (-8.6, -29.1). A pedestrian with ID 28 is 31.0 meters away at (-9.3, -29.5).

The vehicle with ID 13 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 [-5.1911645  1.7471839] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.703261    0.45901132] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.9578824 -3.2510622] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00025606 0.00101225] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01609475  0.02464832] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.6712176  1.2263695] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00488319 -0.00122995] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00134076  0.00660906] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -0.5) m/s. Its current heading (yaw) is -0.07 radians with an angular velocity of -0.07 rad/s.

The most relevant actors are: A vehicle with ID 27 is 8.5 meters away at (-3.6, -7.6). A vehicle with ID 28 is 8.5 meters away at (-0.5, -8.5). A vehicle with ID 29 is 9.0 meters away at (2.0, -8.8). A vehicle with ID 30 is 10.6 meters away at (4.8, -9.4). A unknown object with ID 32 is 10.8 meters away at (7.7, -7.5). A unknown object with ID 34 is 11.2 meters away at (8.3, -7.5). A vehicle with ID 25 is 13.0 meters away at (-8.6, -9.8). A vehicle with ID 26 is 15.8 meters away at (-9.5, -12.6). A unknown object with ID 6 is 20.7 meters away at (6.3, 19.7). A vehicle with ID 31 is 26.7 meters away at (-15.6, -21.7).

The vehicle with ID 27 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 26 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 vehicle with ID 31 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 (8.1, -1.7) m/s. Its current heading (yaw) is -0.21 radians with an angular velocity of -0.21 rad/s.

The most relevant actors are: A unknown object with ID 34 is 8.5 meters away at (-7.1, -4.7). A vehicle with ID 30 is 12.5 meters away at (-10.6, -6.5). A vehicle with ID 29 is 14.6 meters away at (-13.4, -5.9). A vehicle with ID 39 is 15.9 meters away at (11.1, -11.4). A vehicle with ID 28 is 16.9 meters away at (-16.0, -5.6). A vehicle with ID 40 is 18.3 meters away at (13.9, -12.0). A vehicle with ID 27 is 19.7 meters away at (-19.1, -4.7). A vehicle with ID 42 is 20.7 meters away at (16.3, -12.7). A vehicle with ID 7 is 23.3 meters away at (19.2, -13.2). A vehicle with ID 31 is 36.3 meters away at (-31.1, -18.6).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 40 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 vehicle with ID 42 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 [0. 0.] m/s.The vehicle with ID 31 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 (7.0, -1.3) m/s. Its current heading (yaw) is -0.18 radians with an angular velocity of -0.18 rad/s.

The most relevant actors are: A vehicle with ID 40 is 9.0 meters away at (-1.4, -8.9). A vehicle with ID 39 is 9.3 meters away at (-4.1, -8.3). A vehicle with ID 42 is 9.8 meters away at (1.0, -9.7). A vehicle with ID 7 is 11.0 meters away at (3.9, -10.3). A vehicle with ID 30 is 26.1 meters away at (-25.9, -3.6). A vehicle with ID 29 is 28.9 meters away at (-28.7, -2.9). A vehicle with ID 28 is 31.6 meters away at (-31.5, -2.6). A vehicle with ID 3 is 32.2 meters away at (27.7, -16.5). A vehicle with ID 44 is 33.7 meters away at (11.0, -31.9). A vehicle with ID 27 is 34.4 meters away at (-34.4, -1.7).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 3 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 vehicle with ID 27 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 (4.4, -3.8) 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 vehicle with ID 7 is 9.5 meters away at (-7.4, -6.0). A vehicle with ID 42 is 11.6 meters away at (-10.3, -5.4). A vehicle with ID 40 is 13.6 meters away at (-12.8, -4.6). A vehicle with ID 39 is 16.1 meters away at (-15.6, -4.0). A vehicle with ID 3 is 20.3 meters away at (16.3, -12.0). A vehicle with ID 44 is 27.3 meters away at (-0.4, -27.3). A vehicle with ID 5 is 33.9 meters away at (4.6, -33.6). A unknown object with ID 14 is 34.0 meters away at (-33.9, 2.5). A unknown object with ID 8 is 34.5 meters away at (-34.4, 2.7). A vehicle with ID 30 is 37.4 meters away at (-37.4, 0.6).

The vehicle with ID 7 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 vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 (-0.2, 4.8) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A cyclist with ID 3 is 10.7 meters away at (0.7, -10.7). A pedestrian with ID 20 is 10.9 meters away at (-6.1, 9.0). A unknown object with ID 6 is 13.7 meters away at (6.6, 12.0). A vehicle with ID 22 is 17.4 meters away at (2.9, 17.1). A pedestrian with ID 18 is 20.3 meters away at (-1.4, 20.3). A pedestrian with ID 21 is 40.0 meters away at (-1.0, -39.9). A vehicle with ID 23 is 70.4 meters away at (19.1, -67.7).

The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.4395836  5.041695 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.2674035 -1.4761922] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.34618938 -5.5373487 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.13220516 -0.67943865] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.24877426 -0.6461223 ] m/s.The vehicle with ID 23 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 (0.2, 5.0) m/s. Its current heading (yaw) is 1.52 radians with an angular velocity of 1.52 rad/s.

The most relevant actors are: A vehicle with ID 22 is 4.3 meters away at (2.8, -3.3). A pedestrian with ID 20 is 7.3 meters away at (-6.3, -3.7). A pedestrian with ID 18 is 9.0 meters away at (-1.5, 8.9). A cyclist with ID 3 is 11.2 meters away at (0.3, -11.2). A unknown object with ID 13 is 31.5 meters away at (-0.0, 31.5). A pedestrian with ID 21 is 50.7 meters away at (-0.0, -50.7). A vehicle with ID 23 is 79.7 meters away at (19.2, -77.4).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.0314264 -5.5034957] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.04231804 -1.4967815 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01743675 -0.9154603 ] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.15120174  4.3077135 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.36885428 -0.71796626] m/s.The vehicle with ID 23 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 (0.8, 6.1) m/s. Its current heading (yaw) is 1.44 radians with an angular velocity of 1.44 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 5.2 meters away at (-2.8, -4.4). A cyclist with ID 3 is 13.7 meters away at (-0.9, -13.7). A pedestrian with ID 20 is 19.8 meters away at (-7.4, -18.3). A vehicle with ID 22 is 27.3 meters away at (1.7, -27.2). A pedestrian with ID 21 is 63.5 meters away at (-0.9, -63.5). A pedestrian with ID 8 is 69.6 meters away at (0.1, 69.6).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.06925616 -0.89589924] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.0860744 4.987261 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.07829992 -1.5319118 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.18898252 -6.8065968 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.2206958 -0.6213921] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.12032874 0.877471  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 6.5) m/s. Its current heading (yaw) is 1.44 radians with an angular velocity of 1.44 rad/s.

The most relevant actors are: A cyclist with ID 3 is 14.7 meters away at (-2.1, -14.5). A pedestrian with ID 18 is 19.1 meters away at (-5.1, -18.4). A pedestrian with ID 20 is 35.1 meters away at (-9.1, -33.9). A unknown object with ID 14 is 40.6 meters away at (1.3, 40.6). A unknown object with ID 1 is 44.7 meters away at (-1.9, 44.6). A unknown object with ID 2 is 53.3 meters away at (-0.7, 53.3). A vehicle with ID 22 is 54.2 meters away at (0.9, -54.2). A pedestrian with ID 21 is 77.3 meters away at (-2.4, -77.3).

The cyclist with ID 3 is traveling at a (x, y) velocity of [0.35511062 6.2917013 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.702771  -0.9509533] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01939753 -1.4228312 ] 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 1 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 vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.74382526 -7.406726  ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.17284806 -0.5358276 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 8.4) m/s. Its current heading (yaw) is 1.80 radians with an angular velocity of 1.80 rad/s.

The most relevant actors are: A vehicle with ID 21 is 8.7 meters away at (-7.2, 5.0). A vehicle with ID 24 is 13.4 meters away at (-8.4, 10.5). A unknown object with ID 17 is 15.3 meters away at (5.7, -14.2). A unknown object with ID 20 is 17.6 meters away at (6.2, -16.5). A vehicle with ID 28 is 18.6 meters away at (-9.7, 15.9). A vehicle with ID 23 is 28.9 meters away at (-24.2, -15.8). A vehicle with ID 22 is 31.6 meters away at (-20.8, -23.8). A vehicle with ID 26 is 33.9 meters away at (-29.4, -16.9). A vehicle with ID 25 is 36.3 meters away at (-26.0, -25.2). A vehicle with ID 29 is 40.0 meters away at (-35.4, -18.7).

The vehicle with ID 21 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 unknown object with ID 17 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 29 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 (-2.3, 8.9) m/s. Its current heading (yaw) is 1.82 radians with an angular velocity of 1.82 rad/s.

The most relevant actors are: A vehicle with ID 28 is 5.8 meters away at (-5.6, -1.5). A vehicle with ID 24 is 8.1 meters away at (-4.3, -6.8). A vehicle with ID 21 is 12.8 meters away at (-3.0, -12.4). A vehicle with ID 8 is 38.5 meters away at (-8.3, 37.6). A vehicle with ID 23 is 38.9 meters away at (-20.1, -33.3). A vehicle with ID 26 is 42.7 meters away at (-25.2, -34.5). A vehicle with ID 22 is 44.5 meters away at (-16.7, -41.3). A vehicle with ID 29 is 47.9 meters away at (-31.3, -36.2). A vehicle with ID 25 is 48.0 meters away at (-21.8, -42.8). A vehicle with ID 31 is 53.9 meters away at (-38.2, -38.0).

The vehicle with ID 28 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 vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 31 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 (-2.9, 8.0) m/s. Its current heading (yaw) is 1.92 radians with an angular velocity of 1.92 rad/s.

The most relevant actors are: A vehicle with ID 28 is 18.2 meters away at (-0.4, -18.2). A vehicle with ID 8 is 20.9 meters away at (-3.1, 20.6). A vehicle with ID 24 is 23.7 meters away at (0.9, -23.7). A vehicle with ID 21 is 29.4 meters away at (2.2, -29.3). A vehicle with ID 10 is 39.0 meters away at (-7.2, 38.3). A vehicle with ID 6 is 44.7 meters away at (-8.7, 43.9). A vehicle with ID 4 is 50.6 meters away at (-10.0, 49.6). A vehicle with ID 23 is 52.3 meters away at (-14.8, -50.2). A pedestrian with ID 9 is 53.8 meters away at (24.6, -47.8). A vehicle with ID 26 is 55.1 meters away at (-19.9, -51.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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 vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.01279741 -0.01217003] m/s.The vehicle with ID 26 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 (-2.2, 8.2) m/s. Its current heading (yaw) is 1.83 radians with an angular velocity of 1.83 rad/s.

The most relevant actors are: A vehicle with ID 8 is 5.0 meters away at (2.0, 4.6). A unknown object with ID 15 is 16.0 meters away at (-0.5, -16.0). A vehicle with ID 10 is 22.3 meters away at (-2.1, 22.2). A vehicle with ID 6 is 28.0 meters away at (-3.5, 27.8). A vehicle with ID 4 is 33.9 meters away at (-4.8, 33.5). A vehicle with ID 28 is 34.6 meters away at (4.8, -34.3). A vehicle with ID 24 is 40.3 meters away at (6.1, -39.8). A vehicle with ID 21 is 46.0 meters away at (7.4, -45.4). A unknown object with ID 16 is 49.2 meters away at (6.6, -48.8). A vehicle with ID 1 is 66.6 meters away at (-18.4, 64.0).

The vehicle with ID 8 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 vehicle with ID 10 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 [0. 0.] m/s.The vehicle with ID 4 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 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 (2.2, -5.3) 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 unknown object with ID 5 is 24.6 meters away at (12.9, -21.0). A vehicle with ID 13 is 33.1 meters away at (-1.1, -33.0). A unknown object with ID 4 is 34.4 meters away at (-20.8, 27.4). A unknown object with ID 14 is 35.6 meters away at (29.2, -20.3). A vehicle with ID 12 is 43.7 meters away at (-32.1, 29.7).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 (1.4, -2.9) m/s. Its current heading (yaw) is -1.13 radians with an angular velocity of -1.13 rad/s.

The most relevant actors are: A vehicle with ID 13 is 25.2 meters away at (-4.7, -24.7). A vehicle with ID 11 is 73.3 meters away at (38.0, -62.7).

The vehicle with ID 13 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 [-5.6039424  6.498562 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.3) 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 vehicle with ID 13 is 21.4 meters away at (-6.7, -20.3). A vehicle with ID 11 is 52.8 meters away at (24.9, -46.6).

The vehicle with ID 13 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 [-5.5455046  5.0828047] 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 -1.15 radians with an angular velocity of -1.15 rad/s.

The most relevant actors are: A vehicle with ID 13 is 20.8 meters away at (-7.0, -19.6). A vehicle with ID 11 is 40.0 meters away at (13.1, -37.8).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0.29339504 0.18039538] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.7154613  2.7737424] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -0.3) m/s. Its current heading (yaw) is -0.03 radians with an angular velocity of -0.03 rad/s.

The most relevant actors are: A vehicle with ID 46 is 9.9 meters away at (-0.5, -9.8). A vehicle with ID 56 is 10.4 meters away at (-3.5, 9.8). A vehicle with ID 48 is 10.9 meters away at (5.2, -9.6). A vehicle with ID 55 is 11.3 meters away at (-6.2, 9.5). A vehicle with ID 44 is 11.4 meters away at (-5.8, -9.8). A vehicle with ID 54 is 13.0 meters away at (-8.5, -9.8). A vehicle with ID 53 is 15.1 meters away at (-11.4, -9.9). A vehicle with ID 49 is 15.3 meters away at (11.0, -10.6). A vehicle with ID 52 is 15.5 meters away at (-11.7, 10.1). A vehicle with ID 51 is 22.3 meters away at (-19.6, 10.5).

The vehicle with ID 46 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 vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 vehicle with ID 54 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 49 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 51 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 (7.6, -2.6) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 49 is 9.6 meters away at (-5.0, -8.2). A vehicle with ID 48 is 13.1 meters away at (-10.9, -7.3). A vehicle with ID 50 is 18.0 meters away at (7.6, -16.3). A vehicle with ID 46 is 18.3 meters away at (-16.7, -7.6). A vehicle with ID 56 is 23.2 meters away at (-19.8, 12.1). A vehicle with ID 44 is 23.3 meters away at (-22.1, -7.5). A vehicle with ID 23 is 25.3 meters away at (18.4, -17.3). A vehicle with ID 55 is 25.4 meters away at (-22.5, 11.8). A vehicle with ID 54 is 25.9 meters away at (-24.8, -7.6). A vehicle with ID 71 is 27.5 meters away at (-16.9, -21.7).

The vehicle with ID 49 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 [0. 0.] 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. 0.] m/s.The vehicle with ID 56 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 vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.3415482 -4.649112 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -5.5) m/s. Its current heading (yaw) is -0.79 radians with an angular velocity of -0.79 rad/s.

The most relevant actors are: A vehicle with ID 50 is 10.2 meters away at (-5.1, -8.8). A vehicle with ID 49 is 17.7 meters away at (-17.7, -0.7). A unknown object with ID 73 is 19.9 meters away at (19.1, -5.4). A vehicle with ID 23 is 21.4 meters away at (8.8, -19.5). A vehicle with ID 48 is 23.7 meters away at (-23.7, 0.3). A vehicle with ID 16 is 29.3 meters away at (-11.3, -27.1). A vehicle with ID 46 is 29.4 meters away at (-29.4, 0.1). A vehicle with ID 47 is 29.7 meters away at (2.6, -29.6). A vehicle with ID 14 is 31.8 meters away at (-11.3, -29.8). A vehicle with ID 71 is 32.8 meters away at (-29.5, -14.3).

The vehicle with ID 50 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 unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.8978727 -5.025224 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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. 0.] m/s.The vehicle with ID 47 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. 0.] m/s.The vehicle 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 (2.1, -6.6) m/s. Its current heading (yaw) is -1.27 radians with an angular velocity of -1.27 rad/s.

The most relevant actors are: A vehicle with ID 50 is 12.8 meters away at (-12.4, 3.3). A unknown object with ID 73 is 13.6 meters away at (11.8, 6.7). A vehicle with ID 23 is 17.9 meters away at (2.7, -17.7). A vehicle with ID 47 is 18.1 meters away at (-4.7, -17.5). A vehicle with ID 11 is 20.6 meters away at (-4.5, -20.1). A vehicle with ID 45 is 23.4 meters away at (-5.1, -22.8). A vehicle with ID 16 is 23.8 meters away at (-18.6, -14.9). A vehicle with ID 14 is 25.6 meters away at (-18.7, -17.6). A vehicle with ID 7 is 26.1 meters away at (-5.1, -25.6). A vehicle with ID 13 is 27.4 meters away at (-18.6, -20.1).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.34284323 -5.5013204 ] m/s.The vehicle with ID 47 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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 (2.1, -0.2) m/s. Its current heading (yaw) is -0.10 radians with an angular velocity of -0.10 rad/s.

The most relevant actors are: A unknown object with ID 43 is 2.3 meters away at (1.0, 2.1). A unknown object with ID 53 is 10.6 meters away at (3.0, -10.2). A unknown object with ID 52 is 11.0 meters away at (3.9, -10.3). A unknown object with ID 48 is 11.2 meters away at (6.7, -8.9). A unknown object with ID 51 is 11.2 meters away at (4.4, -10.4). A unknown object with ID 50 is 11.4 meters away at (4.7, -10.4). A unknown object with ID 49 is 11.6 meters away at (5.2, -10.4). A unknown object with ID 47 is 13.3 meters away at (11.2, -7.0). A vehicle with ID 57 is 13.3 meters away at (3.0, -13.0). A unknown object with ID 58 is 14.5 meters away at (1.1, -14.5).

The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 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.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 unknown object with ID 58 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 (2.9, -0.2) m/s. Its current heading (yaw) is -0.07 radians with an angular velocity of -0.07 rad/s.

The most relevant actors are: A unknown object with ID 48 is 8.6 meters away at (1.5, -8.4). A unknown object with ID 47 is 8.9 meters away at (6.0, -6.6). A unknown object with ID 49 is 9.9 meters away at (0.0, -9.9). A unknown object with ID 51 is 10.0 meters away at (-0.9, -9.9). A unknown object with ID 50 is 10.0 meters away at (-0.5, -10.0). A unknown object with ID 52 is 10.0 meters away at (-1.3, -10.0). A unknown object with ID 53 is 10.1 meters away at (-2.3, -9.8). A pedestrian with ID 61 is 13.4 meters away at (2.4, -13.2). A pedestrian with ID 60 is 13.5 meters away at (1.5, -13.5). A unknown object with ID 58 is 14.7 meters away at (-4.1, -14.1).

The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 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 [ 0.01054118 -0.06357513] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.11633165 -0.05226775] m/s.The unknown object with ID 58 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 (2.2, -0.2) m/s. Its current heading (yaw) is -0.08 radians with an angular velocity of -0.08 rad/s.

The most relevant actors are: A unknown object with ID 47 is 6.4 meters away at (0.8, -6.3). A unknown object with ID 1 is 6.8 meters away at (1.9, -6.5). A unknown object with ID 48 is 8.9 meters away at (-3.6, -8.2). A unknown object with ID 49 is 10.9 meters away at (-5.1, -9.7). A unknown object with ID 50 is 11.1 meters away at (-5.5, -9.7). A unknown object with ID 51 is 11.2 meters away at (-6.0, -9.4). A unknown object with ID 52 is 11.6 meters away at (-6.4, -9.7). A vehicle with ID 34 is 14.6 meters away at (-7.8, -12.3). A unknown object with ID 58 is 16.6 meters away at (-9.3, -13.8). A unknown object with ID 59 is 18.9 meters away at (-10.2, -15.9).

The unknown object with ID 47 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.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 unknown object with ID 58 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.1) m/s. Its current heading (yaw) is -0.09 radians with an angular velocity of -0.09 rad/s.

The most relevant actors are: A unknown object with ID 1 is 6.4 meters away at (-1.0, -6.4). A unknown object with ID 47 is 6.5 meters away at (-2.0, -6.1). A unknown object with ID 48 is 10.3 meters away at (-6.4, -8.0). A unknown object with ID 49 is 12.4 meters away at (-8.0, -9.5). A unknown object with ID 50 is 12.8 meters away at (-8.5, -9.5). A unknown object with ID 51 is 12.8 meters away at (-8.7, -9.5). A unknown object with ID 52 is 13.3 meters away at (-9.3, -9.5). A unknown object with ID 58 is 18.3 meters away at (-12.1, -13.6). A unknown object with ID 59 is 20.4 meters away at (-13.0, -15.7). A vehicle with ID 62 is 32.6 meters away at (26.5, 19.0).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 49 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 unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 59 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 [-3.829984 -8.72345 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) 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 50 is 9.7 meters away at (9.6, 1.3). A vehicle with ID 51 is 10.8 meters away at (6.3, -8.7). A pedestrian with ID 53 is 14.5 meters away at (14.3, 2.2). A vehicle with ID 58 is 17.6 meters away at (-17.6, 1.2). A vehicle with ID 49 is 23.3 meters away at (-11.7, 20.2). A vehicle with ID 65 is 24.2 meters away at (-21.5, -11.2). A vehicle with ID 59 is 27.5 meters away at (-25.3, 10.9). A vehicle with ID 73 is 27.6 meters away at (-22.8, -15.7). A vehicle with ID 6 is 30.0 meters away at (0.9, 30.0). A vehicle with ID 54 is 30.2 meters away at (-28.8, 9.0).

The unknown object with ID 50 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 pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03588871 -0.00339338] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.4542003 -1.3207945] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.837945   2.7649503] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.2) m/s. Its current heading (yaw) is 2.65 radians with an angular velocity of 2.65 rad/s.

The most relevant actors are: A vehicle with ID 58 is 4.6 meters away at (-2.9, -3.6). A cyclist with ID 39 is 11.5 meters away at (-6.3, -9.5). A unknown object with ID 50 is 13.7 meters away at (13.7, -0.2). A vehicle with ID 51 is 14.6 meters away at (10.5, -10.2). A vehicle with ID 30 is 16.1 meters away at (-3.1, -15.8). A pedestrian with ID 53 is 18.5 meters away at (18.5, 0.7). A vehicle with ID 49 is 20.1 meters away at (-7.7, 18.6). A vehicle with ID 65 is 21.6 meters away at (-17.4, -12.8). A vehicle with ID 59 is 23.2 meters away at (-21.3, 9.3). A vehicle with ID 73 is 25.5 meters away at (-18.7, -17.3).

The vehicle with ID 58 is traveling at a (x, y) velocity of [ 6.428271  -1.8697565] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 4.4789786 -1.6492732] m/s.The unknown object with ID 50 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00164331  0.0232103 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 3.6) m/s. Its current heading (yaw) is 1.82 radians with an angular velocity of 1.82 rad/s.

The most relevant actors are: A vehicle with ID 49 is 14.8 meters away at (-3.9, 14.3). A vehicle with ID 59 is 18.0 meters away at (-17.4, 4.9). A unknown object with ID 50 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 58 is 19.2 meters away at (15.1, -11.8). A vehicle with ID 75 is 20.1 meters away at (-20.0, -1.1). A vehicle with ID 30 is 20.1 meters away at (1.1, -20.1). A vehicle with ID 51 is 20.4 meters away at (14.5, -14.4). A vehicle with ID 65 is 21.7 meters away at (-13.2, -17.2). A pedestrian with ID 53 is 22.7 meters away at (22.4, -3.2). A vehicle with ID 63 is 23.9 meters away at (-23.0, 6.6).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 58 is traveling at a (x, y) velocity of [ 7.0330524 -2.2565417] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 2.169805   -0.57011414] m/s.The vehicle with ID 30 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03133572 -0.00216843] m/s.The vehicle with ID 63 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 (1.4, 5.4) m/s. Its current heading (yaw) is 1.32 radians with an angular velocity of 1.32 rad/s.

The most relevant actors are: A vehicle with ID 49 is 7.1 meters away at (-4.6, 5.4). A unknown object with ID 43 is 15.3 meters away at (-2.4, 15.1). A vehicle with ID 6 is 17.1 meters away at (7.9, 15.2). A unknown object with ID 45 is 17.6 meters away at (-2.4, 17.4). A vehicle with ID 59 is 18.6 meters away at (-18.2, -3.7). A vehicle with ID 48 is 19.3 meters away at (-0.0, 19.3). A vehicle with ID 75 is 21.3 meters away at (-18.6, -10.5). A vehicle with ID 63 is 23.9 meters away at (-23.9, -1.9). A vehicle with ID 5 is 24.7 meters away at (1.8, 24.6). A vehicle with ID 51 is 27.0 meters away at (13.4, -23.5).

The vehicle with ID 49 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 6 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 59 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 [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 1.308719  -0.4114089] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) 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 vehicle with ID 52 is 5.9 meters away at (2.2, 5.5). A vehicle with ID 54 is 7.9 meters away at (-2.9, 7.3). A vehicle with ID 58 is 14.0 meters away at (-14.0, 1.5). A vehicle with ID 55 is 14.5 meters away at (-0.1, -14.5). A vehicle with ID 61 is 18.8 meters away at (-14.8, 11.6). A vehicle with ID 59 is 19.3 meters away at (-3.2, -19.1). A vehicle with ID 56 is 19.3 meters away at (-19.0, 3.4). A vehicle with ID 63 is 21.5 meters away at (19.5, -9.0). A vehicle with ID 60 is 21.6 meters away at (4.3, -21.2). A vehicle with ID 25 is 22.1 meters away at (16.6, 14.6).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 vehicle with ID 59 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 vehicle with ID 63 is traveling at a (x, y) velocity of [3.6196375 1.1479797] m/s.The vehicle with ID 60 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.

Instruction: Continue straight.


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 -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 52 is 5.9 meters away at (1.5, 5.7). A vehicle with ID 54 is 8.4 meters away at (-3.7, 7.6). A vehicle with ID 55 is 14.2 meters away at (-0.9, -14.2). A vehicle with ID 58 is 14.8 meters away at (-14.7, 1.8). A vehicle with ID 59 is 19.2 meters away at (-3.9, -18.8). A vehicle with ID 61 is 19.5 meters away at (-15.5, 11.8). A vehicle with ID 56 is 20.1 meters away at (-19.8, 3.7). A vehicle with ID 60 is 21.3 meters away at (3.5, -21.0). A vehicle with ID 25 is 21.7 meters away at (15.9, 14.8). A vehicle with ID 68 is 24.4 meters away at (-20.6, 13.1).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 vehicle with ID 56 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 25 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.3) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 52 is 6.0 meters away at (0.8, 6.0). A vehicle with ID 54 is 8.9 meters away at (-4.3, 7.8). A vehicle with ID 55 is 14.0 meters away at (-1.5, -14.0). A pedestrian with ID 30 is 14.3 meters away at (-4.7, 13.6). A vehicle with ID 58 is 15.5 meters away at (-15.3, 2.0). A vehicle with ID 59 is 19.3 meters away at (-4.5, -18.8). A vehicle with ID 61 is 20.1 meters away at (-16.1, 12.0). A vehicle with ID 56 is 20.7 meters away at (-20.3, 3.9). A vehicle with ID 60 is 21.0 meters away at (2.9, -20.8). A vehicle with ID 25 is 21.4 meters away at (15.2, 15.1).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 [-0.06529053  0.0179032 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 vehicle with ID 56 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 25 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 (3.7, -1.3) m/s. Its current heading (yaw) is -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A vehicle with ID 52 is 8.5 meters away at (-3.9, 7.6). A vehicle with ID 54 is 13.1 meters away at (-9.1, 9.5). A vehicle with ID 55 is 13.8 meters away at (-6.2, -12.4). A vehicle with ID 60 is 19.2 meters away at (-1.8, -19.1). A vehicle with ID 25 is 19.8 meters away at (10.5, 16.8). A vehicle with ID 57 is 19.9 meters away at (19.7, -3.1). A vehicle with ID 58 is 20.5 meters away at (-20.1, 3.7). A vehicle with ID 64 is 22.9 meters away at (14.1, -18.0). A vehicle with ID 61 is 25.0 meters away at (-20.9, 13.7). A vehicle with ID 48 is 25.4 meters away at (23.0, -10.8).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 25 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 [-2.0825727   0.69831777] m/s.The vehicle with ID 58 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 61 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 [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.0) m/s. Its current heading (yaw) is -1.72 radians with an angular velocity of -1.72 rad/s.

The most relevant actors are: A vehicle with ID 12 is 15.3 meters away at (-3.4, 14.9). A vehicle with ID 13 is 24.7 meters away at (-2.6, 24.6). A vehicle with ID 14 is 30.5 meters away at (-4.7, 30.1). A vehicle with ID 15 is 37.2 meters away at (-3.5, 37.1). A vehicle with ID 8 is 38.6 meters away at (-4.4, 38.4). A vehicle with ID 16 is 69.2 meters away at (1.8, -69.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 (-1.7, -2.3) m/s. Its current heading (yaw) is -2.21 radians with an angular velocity of -2.21 rad/s.

The most relevant actors are: A vehicle with ID 12 is 20.6 meters away at (-1.3, 20.6). A vehicle with ID 13 is 30.3 meters away at (-0.5, 30.3). A vehicle with ID 14 is 35.9 meters away at (-2.6, 35.8). A vehicle with ID 15 is 42.8 meters away at (-1.4, 42.8). A vehicle with ID 16 is 63.5 meters away at (4.2, -63.4).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 (-3.3, -1.2) m/s. Its current heading (yaw) is -2.80 radians with an angular velocity of -2.80 rad/s.

The most relevant actors are: A vehicle with ID 12 is 25.2 meters away at (4.5, 24.8). A vehicle with ID 13 is 34.9 meters away at (5.2, 34.5). A vehicle with ID 14 is 40.1 meters away at (3.3, 40.0). A vehicle with ID 15 is 46.9 meters away at (4.1, 46.7). A vehicle with ID 16 is 60.1 meters away at (9.6, -59.3).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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, -1.0) 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 12 is 29.8 meters away at (13.0, 26.8). A vehicle with ID 13 is 39.0 meters away at (13.8, 36.5). A vehicle with ID 14 is 43.7 meters away at (11.8, 42.1). A vehicle with ID 15 is 50.4 meters away at (12.6, 48.8). A pedestrian with ID 3 is 70.3 meters away at (-70.3, 1.2). A pedestrian with ID 4 is 71.2 meters away at (-71.2, 0.7).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.19728646 -0.14031884] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.11320824 -0.30821982] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -2.3) m/s. Its current heading (yaw) is -0.92 radians with an angular velocity of -0.92 rad/s.

The most relevant actors are: A vehicle with ID 2 is 7.7 meters away at (-7.3, -2.5). A vehicle with ID 31 is 12.6 meters away at (-9.3, -8.5). A pedestrian with ID 26 is 13.1 meters away at (-7.9, 10.4). A pedestrian with ID 34 is 13.8 meters away at (-9.9, 9.5). A pedestrian with ID 35 is 14.1 meters away at (-10.4, 9.5). A pedestrian with ID 41 is 21.4 meters away at (-21.2, -2.8). A unknown object with ID 36 is 26.6 meters away at (-24.2, 10.9). A unknown object with ID 4 is 29.4 meters away at (18.9, -22.5). A unknown object with ID 38 is 29.8 meters away at (17.3, -24.3). A unknown object with ID 11 is 30.3 meters away at (19.5, -23.2).

The vehicle with ID 2 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.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04581345 -0.01339375] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01608629 -0.00158762] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.0268837  -0.00625101] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.1578621   0.57662594] 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 4 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 11 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 (0.6, -2.6) m/s. Its current heading (yaw) is -1.34 radians with an angular velocity of -1.34 rad/s.

The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-10.0, 2.8). A vehicle with ID 31 is 12.3 meters away at (-11.9, -3.2). A pedestrian with ID 34 is 19.4 meters away at (-12.5, 14.9). A pedestrian with ID 35 is 19.8 meters away at (-13.1, 14.8). A unknown object with ID 4 is 23.7 meters away at (16.2, -17.3). A unknown object with ID 38 is 24.0 meters away at (14.6, -19.1). A unknown object with ID 40 is 25.2 meters away at (15.8, -19.6). A pedestrian with ID 41 is 26.8 meters away at (-26.6, 3.7). A vehicle with ID 24 is 31.7 meters away at (-20.7, -24.1). A pedestrian with ID 43 is 35.6 meters away at (-35.1, 6.0).

The vehicle with ID 2 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.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.00680504 -0.00900386] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00100287 -0.00307622] m/s.The unknown object with ID 4 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 pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3396273   0.46269792] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-12.360061    4.9364395] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00272409 -0.06822707] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -1.1) m/s. Its current heading (yaw) is -1.65 radians with an angular velocity of -1.65 rad/s.

The most relevant actors are: A vehicle with ID 31 is 12.3 meters away at (-12.3, 0.8). A vehicle with ID 2 is 12.4 meters away at (-10.4, 6.7). A unknown object with ID 4 is 20.6 meters away at (15.8, -13.2). A unknown object with ID 38 is 20.7 meters away at (14.1, -15.1). A unknown object with ID 40 is 22.0 meters away at (15.4, -15.7). A pedestrian with ID 34 is 22.7 meters away at (-12.7, 18.9). A pedestrian with ID 35 is 23.1 meters away at (-13.4, 18.8). A pedestrian with ID 41 is 30.8 meters away at (-29.5, 8.7). A pedestrian with ID 19 is 35.1 meters away at (-33.1, 11.7). A pedestrian with ID 43 is 36.9 meters away at (-35.5, 10.0).

The vehicle with ID 31 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 unknown object with ID 4 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 pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.06978475 -0.03737964] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.04562614 -0.05392537] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2538898   0.47811526] m/s.The pedestrian with ID 19 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 [-0.0180622   0.00092919] 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 -1.72 radians with an angular velocity of -1.72 rad/s.

The most relevant actors are: A vehicle with ID 2 is 12.3 meters away at (-9.9, 7.4). A vehicle with ID 31 is 12.4 meters away at (-12.3, 1.7). A unknown object with ID 38 is 20.2 meters away at (14.1, -14.4). A unknown object with ID 4 is 20.2 meters away at (15.8, -12.6). A unknown object with ID 40 is 21.4 meters away at (15.4, -14.9). A pedestrian with ID 34 is 23.3 meters away at (-12.5, 19.7). A pedestrian with ID 35 is 23.8 meters away at (-13.3, 19.7). A pedestrian with ID 41 is 33.5 meters away at (-31.8, 10.5). A pedestrian with ID 19 is 35.4 meters away at (-33.1, 12.7). A pedestrian with ID 43 is 37.1 meters away at (-35.5, 10.8).

The vehicle with ID 2 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.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.02721776 -0.01373212] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01297649  0.00572279] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.0893195   0.67182446] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00059454  0.01433315] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.03881476 -0.00779295] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -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 vehicle with ID 67 is 6.4 meters away at (-6.4, -1.0). A vehicle with ID 71 is 6.5 meters away at (4.7, -4.5). A vehicle with ID 68 is 9.6 meters away at (-7.5, 6.1). A vehicle with ID 75 is 12.2 meters away at (10.2, -6.7). A unknown object with ID 62 is 12.9 meters away at (12.5, 3.1). A pedestrian with ID 55 is 15.3 meters away at (13.3, -7.6). A vehicle with ID 80 is 17.5 meters away at (15.4, -8.4). A vehicle with ID 81 is 19.0 meters away at (19.0, -0.6). A vehicle with ID 20 is 22.5 meters away at (-22.5, -0.0). A vehicle with ID 86 is 23.1 meters away at (20.6, -10.3).

The vehicle with ID 67 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 68 is traveling at a (x, y) velocity of [-2.6221254  0.9953523] m/s.The vehicle with ID 75 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 55 is traveling at a (x, y) velocity of [0.01845894 0.00301007] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 [2.071366  1.9182615] m/s.The vehicle with ID 86 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 (6.1, -2.1) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 75 is 3.1 meters away at (-1.5, -2.8). A pedestrian with ID 55 is 4.1 meters away at (1.6, -3.8). A vehicle with ID 80 is 5.8 meters away at (3.7, -4.5). A vehicle with ID 71 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 81 is 8.0 meters away at (7.2, 3.4). A vehicle with ID 86 is 11.0 meters away at (8.9, -6.4). A vehicle with ID 90 is 15.9 meters away at (13.7, -8.0). A vehicle with ID 67 is 18.3 meters away at (-18.1, 2.9). A vehicle with ID 94 is 21.3 meters away at (18.9, -9.7). A vehicle with ID 68 is 28.4 meters away at (-25.6, 12.2).

The vehicle with ID 75 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 [-0.04256966  0.05059   ] m/s.The vehicle with ID 80 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 81 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 90 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 94 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 [-4.4894238  1.5216081] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.0) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 90 is 3.8 meters away at (1.1, -3.7). A vehicle with ID 86 is 4.2 meters away at (-3.6, -2.1). A vehicle with ID 94 is 8.2 meters away at (6.3, -5.3). A vehicle with ID 80 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 81 is 9.3 meters away at (-5.3, 7.7). A pedestrian with ID 55 is 11.0 meters away at (-11.0, 0.7). A vehicle with ID 75 is 14.3 meters away at (-14.2, 1.6). A unknown object with ID 51 is 16.4 meters away at (-11.9, 11.3). A vehicle with ID 63 is 18.8 meters away at (6.3, 17.7). A vehicle with ID 71 is 19.9 meters away at (-19.6, 3.8).

The vehicle with ID 90 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 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 [0.03961534 0.01777921] m/s.The vehicle with ID 75 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 63 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) 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 vehicle with ID 94 is 6.2 meters away at (-6.1, -1.0). A vehicle with ID 65 is 8.4 meters away at (7.6, 3.4). A vehicle with ID 39 is 8.8 meters away at (6.9, -5.5). A vehicle with ID 90 is 11.5 meters away at (-11.5, 0.7). A vehicle with ID 66 is 15.5 meters away at (15.5, 1.0). A vehicle with ID 86 is 16.4 meters away at (-16.3, 2.3). A vehicle with ID 81 is 21.6 meters away at (-17.9, 12.1). A vehicle with ID 80 is 21.9 meters away at (-21.4, 4.2). A unknown object with ID 47 is 21.9 meters away at (15.1, -15.8). A unknown object with ID 24 is 21.9 meters away at (15.8, -15.2).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 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 vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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.

Instruction: Slight right turn approaching.