The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.7) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A unknown object with ID 100 is 3.4 meters away at (2.0, 2.7). A unknown object with ID 99 is 3.6 meters away at (0.0, 3.6). A unknown object with ID 35 is 4.2 meters away at (-4.0, -1.3). A unknown object with ID 102 is 4.5 meters away at (4.2, 1.7). A unknown object with ID 98 is 4.8 meters away at (-1.8, 4.4). A unknown object with ID 103 is 5.1 meters away at (4.9, 1.4). A unknown object with ID 72 is 6.1 meters away at (6.1, 0.8). A unknown object with ID 97 is 6.6 meters away at (-3.6, 5.5). A unknown object with ID 104 is 7.0 meters away at (7.0, 0.3). A unknown object with ID 43 is 7.4 meters away at (4.8, -5.6).

The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 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.

There are active red lights at the following coordinates: [[ 88.392    -39.229416]
 [ 90.11641  -44.33282 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [1.9880562 2.710165 ], 3.361154794692993 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.5) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A unknown object with ID 45 is 2.9 meters away at (-2.1, -2.1). A unknown object with ID 30 is 3.1 meters away at (-0.4, -3.1). A unknown object with ID 46 is 3.6 meters away at (2.1, 2.9). A unknown object with ID 83 is 3.6 meters away at (-0.0, 3.6). A unknown object with ID 63 is 4.1 meters away at (-3.9, -1.2). A unknown object with ID 54 is 4.6 meters away at (0.9, 4.5). A unknown object with ID 47 is 4.7 meters away at (4.1, 2.2). A unknown object with ID 29 is 4.8 meters away at (-0.6, -4.7). A unknown object with ID 59 is 5.0 meters away at (-1.8, 4.6). A unknown object with ID 42 is 5.3 meters away at (-3.4, -4.1).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 88.392    -39.229416]
 [ 90.11641  -44.33282 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.058361  -2.0644588], 2.9152770042419434 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.7) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A unknown object with ID 73 is 2.3 meters away at (0.4, 2.2). A unknown object with ID 19 is 2.4 meters away at (1.8, 1.6). A unknown object with ID 82 is 3.2 meters away at (0.8, 3.1). A unknown object with ID 18 is 3.8 meters away at (3.7, 0.8). A unknown object with ID 22 is 5.2 meters away at (1.2, 5.1). A unknown object with ID 17 is 5.8 meters away at (5.8, -0.0). A pedestrian with ID 24 is 6.0 meters away at (-5.8, -1.1). A unknown object with ID 32 is 6.3 meters away at (1.5, 6.1). A unknown object with ID 21 is 7.3 meters away at (2.8, 6.7). A unknown object with ID 16 is 7.6 meters away at (7.6, -0.8).

The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 pedestrian with ID 24 is traveling at a (x, y) velocity of [0.10469425 0.87965506] 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 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.

There are active red lights at the following coordinates: [[ 88.392    -39.229416]
 [ 90.11641  -44.33282 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [0.36346436 2.2296543 ], 2.259084939956665 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.6) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A vehicle with ID 38 is 7.3 meters away at (3.5, 6.4). A vehicle with ID 42 is 12.7 meters away at (-9.5, -8.5). A vehicle with ID 37 is 16.2 meters away at (15.9, 2.8). A pedestrian with ID 27 is 18.1 meters away at (15.3, -9.7). A vehicle with ID 35 is 22.2 meters away at (22.2, 0.5). A vehicle with ID 36 is 27.9 meters away at (27.8, -1.4). A vehicle with ID 34 is 32.8 meters away at (30.3, -12.5). A vehicle with ID 53 is 33.7 meters away at (-32.4, 9.1). A vehicle with ID 52 is 33.9 meters away at (-15.7, 30.1). A vehicle with ID 39 is 37.0 meters away at (36.7, -4.0).

The vehicle with ID 38 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 37 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 [-0.11665558 -0.24924783] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 52 is traveling at a (x, y) velocity of [-1.7293202 -5.6115446] m/s.The vehicle with ID 39 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 (3.5, -1.8) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A vehicle with ID 37 is 10.7 meters away at (7.5, 7.7). A vehicle with ID 38 is 12.2 meters away at (-4.8, 11.3). A vehicle with ID 35 is 14.8 meters away at (13.8, 5.3). A vehicle with ID 42 is 18.3 meters away at (-17.9, -3.6). A vehicle with ID 36 is 19.8 meters away at (19.5, 3.4). A unknown object with ID 25 is 20.7 meters away at (-20.7, -0.9). A vehicle with ID 34 is 23.2 meters away at (21.8, -7.7). A vehicle with ID 39 is 28.3 meters away at (28.3, 0.7). A pedestrian with ID 55 is 34.4 meters away at (34.3, 2.3). A vehicle with ID 52 is 38.5 meters away at (-26.1, 28.4).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 36 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 34 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.3863146  -0.39300635] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.7029416 -2.537263 ] 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 -0.30

The most relevant actors are: A vehicle with ID 37 is 9.9 meters away at (3.1, 9.4). A vehicle with ID 35 is 11.8 meters away at (9.4, 7.1). A vehicle with ID 38 is 15.9 meters away at (-9.2, 13.0). A vehicle with ID 36 is 16.0 meters away at (15.1, 5.1). A vehicle with ID 34 is 18.3 meters away at (17.3, -5.9). A vehicle with ID 42 is 22.5 meters away at (-22.5, -1.7). A vehicle with ID 39 is 24.0 meters away at (23.8, 2.5). A unknown object with ID 25 is 25.1 meters away at (-25.1, 0.9). A vehicle with ID 52 is 40.1 meters away at (-32.7, 23.2). A unknown object with ID 30 is 41.1 meters away at (37.0, -17.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 52 is traveling at a (x, y) velocity of [-1.4108331 -4.8821497] m/s.The unknown object with ID 30 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 -0.29

The most relevant actors are: A vehicle with ID 37 is 9.9 meters away at (2.7, 9.5). A vehicle with ID 35 is 11.6 meters away at (9.1, 7.2). A vehicle with ID 36 is 15.6 meters away at (14.7, 5.2). A vehicle with ID 38 is 16.2 meters away at (-9.5, 13.1). A vehicle with ID 34 is 17.9 meters away at (17.0, -5.8). A vehicle with ID 39 is 23.6 meters away at (23.5, 2.6). A pedestrian with ID 2 is 34.9 meters away at (34.8, 2.4). A vehicle with ID 52 is 38.4 meters away at (-36.8, 10.9). A unknown object with ID 13 is 42.4 meters away at (-37.4, 20.1). A pedestrian with ID 17 is 44.6 meters away at (-43.9, 7.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.4247465  -0.34406176] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-2.2161655 -7.2598667] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.4843854 1.5964384] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -6.4) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 94 is 7.5 meters away at (-6.9, -2.8). A vehicle with ID 93 is 7.5 meters away at (-7.1, 2.6). A vehicle with ID 92 is 8.7 meters away at (-6.9, 5.3). A vehicle with ID 95 is 8.8 meters away at (-6.8, -5.6). A vehicle with ID 91 is 10.6 meters away at (-6.8, 8.2). A vehicle with ID 90 is 12.6 meters away at (-6.9, 10.6). A vehicle with ID 100 is 13.0 meters away at (-7.1, -10.9). A vehicle with ID 102 is 15.5 meters away at (-7.4, -13.7). A vehicle with ID 104 is 18.0 meters away at (-7.4, -16.4). A vehicle with ID 97 is 22.0 meters away at (-20.5, 8.0).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [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 (0.2, -5.9) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A vehicle with ID 100 is 7.4 meters away at (-7.2, 1.7). A vehicle with ID 102 is 7.7 meters away at (-7.6, -1.0). A vehicle with ID 104 is 8.5 meters away at (-7.6, -3.7). A vehicle with ID 95 is 9.9 meters away at (-6.9, 7.0). A vehicle with ID 94 is 12.1 meters away at (-7.1, 9.8). A vehicle with ID 93 is 16.9 meters away at (-7.2, 15.2). A vehicle with ID 92 is 19.3 meters away at (-7.0, 18.0). A vehicle with ID 91 is 22.0 meters away at (-6.9, 20.9). A vehicle with ID 90 is 24.3 meters away at (-7.0, 23.3). A unknown object with ID 117 is 25.3 meters away at (12.1, -22.2).

The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 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 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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 unknown object with ID 117 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, -4.9) m/s. Its current heading (yaw) is -1.84

The most relevant actors are: A vehicle with ID 104 is 9.9 meters away at (-7.1, 6.9). A vehicle with ID 102 is 12.0 meters away at (-7.1, 9.7). A vehicle with ID 100 is 14.1 meters away at (-6.7, 12.4). A unknown object with ID 117 is 17.0 meters away at (12.6, -11.4). A vehicle with ID 95 is 18.9 meters away at (-6.5, 17.7). A vehicle with ID 94 is 21.7 meters away at (-6.8, 20.6). A vehicle with ID 93 is 26.8 meters away at (-6.8, 26.0). A vehicle with ID 92 is 29.5 meters away at (-6.5, 28.8). A vehicle with ID 91 is 32.2 meters away at (-6.5, 31.6). A vehicle with ID 53 is 32.4 meters away at (-14.4, -29.0).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 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 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -2.4) m/s. Its current heading (yaw) is -2.68

The most relevant actors are: A vehicle with ID 104 is 14.5 meters away at (-1.1, 14.5). A unknown object with ID 48 is 18.2 meters away at (-5.9, -17.2). A unknown object with ID 117 is 18.9 meters away at (18.5, -4.0). A vehicle with ID 100 is 20.1 meters away at (-0.9, 20.1). A vehicle with ID 53 is 23.0 meters away at (-8.6, -21.4). A vehicle with ID 40 is 23.9 meters away at (-11.9, -20.7). A vehicle with ID 95 is 25.3 meters away at (-0.5, 25.3). A vehicle with ID 92 is 36.4 meters away at (-0.6, 36.4). A vehicle with ID 90 is 41.6 meters away at (-0.6, 41.6). A vehicle with ID 35 is 42.6 meters away at (-40.7, -12.4).

The vehicle with ID 104 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 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 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 35 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, 0.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 18 is 3.6 meters away at (-2.3, -2.8). A vehicle with ID 19 is 9.8 meters away at (4.6, -8.7). A vehicle with ID 20 is 23.1 meters away at (-8.4, 21.5). A vehicle with ID 21 is 28.2 meters away at (-2.3, 28.1). A vehicle with ID 22 is 35.2 meters away at (3.3, 35.0). A vehicle with ID 23 is 36.4 meters away at (7.7, -35.6). A vehicle with ID 15 is 40.1 meters away at (-32.2, 23.9). A vehicle with ID 25 is 42.0 meters away at (3.6, -41.8). A vehicle with ID 7 is 44.3 meters away at (31.3, -31.3). A vehicle with ID 26 is 45.1 meters away at (1.8, -45.1).

The vehicle with ID 18 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. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9128917 -2.7206616] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.15011509 -0.32932982] m/s.The vehicle with ID 22 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 [ 0.24901041 -0.18245512] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.780731  4.913461] m/s.The vehicle with ID 26 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 (-2.7, 2.8) m/s. Its current heading (yaw) is 2.33

The most relevant actors are: A vehicle with ID 18 is 6.8 meters away at (1.9, -6.5). A vehicle with ID 20 is 12.6 meters away at (-9.1, 8.7). A vehicle with ID 19 is 15.2 meters away at (8.8, -12.4). A vehicle with ID 21 is 21.0 meters away at (-1.1, 20.9). A vehicle with ID 22 is 31.7 meters away at (6.9, 30.9). A vehicle with ID 15 is 34.6 meters away at (-28.0, 20.3). A vehicle with ID 7 is 36.7 meters away at (25.5, -26.4). A vehicle with ID 17 is 40.5 meters away at (-38.0, 14.2). A vehicle with ID 23 is 40.7 meters away at (11.8, -39.0). A vehicle with ID 5 is 41.5 meters away at (13.8, 39.2).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.4173933 -6.4004965] m/s.The vehicle with ID 19 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 [-2.8867416 -3.5191097] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.90048426 -0.93347853] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.1037464  3.6216066] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.1045055 -3.693302 ] m/s.The vehicle with ID 23 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 [-0.634519   -0.69546664] 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, 4.5) m/s. Its current heading (yaw) is 1.47

The most relevant actors are: A vehicle with ID 21 is 6.4 meters away at (-4.9, 4.2). A vehicle with ID 20 is 13.9 meters away at (-2.8, -13.6). A vehicle with ID 18 is 15.1 meters away at (5.2, -14.1). A vehicle with ID 22 is 20.3 meters away at (6.5, 19.2). A vehicle with ID 19 is 23.4 meters away at (12.2, -19.9). A vehicle with ID 17 is 30.3 meters away at (-30.2, 2.5). A vehicle with ID 8 is 33.4 meters away at (-32.2, 8.8). A vehicle with ID 5 is 33.7 meters away at (15.5, 30.0). A vehicle with ID 7 is 36.2 meters away at (22.5, -28.4). A vehicle with ID 23 is 49.1 meters away at (15.2, -46.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.2024896 -5.960967 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 4.604903 -7.19818 ] m/s.The vehicle with ID 18 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 [-2.6770816 -3.1414082] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.60473686 -0.43603286] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 3.5547857 -2.8328226] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.952406  -1.1393958] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.3776472  1.969973 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.4) m/s. Its current heading (yaw) is 0.82

The most relevant actors are: A vehicle with ID 22 is 6.1 meters away at (-5.6, 2.5). A vehicle with ID 5 is 18.6 meters away at (7.0, 17.2). A vehicle with ID 21 is 21.9 meters away at (-12.1, -18.2). A vehicle with ID 18 is 22.6 meters away at (-0.2, -22.6). A vehicle with ID 19 is 29.3 meters away at (6.7, -28.5). A vehicle with ID 8 is 34.2 meters away at (-34.2, -1.8). A vehicle with ID 17 is 35.7 meters away at (-35.2, -5.6). A vehicle with ID 7 is 36.7 meters away at (13.5, -34.1). A vehicle with ID 20 is 37.0 meters away at (6.2, -36.5). A vehicle with ID 14 is 48.8 meters away at (23.8, -42.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.0673356 -4.8688736] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.3142214 -2.7096968] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.6674095 -7.4518433] m/s.The vehicle with ID 18 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. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.3272028   0.94944686] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 8.7374   -7.504828] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.8971457  2.0568793] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 61 is 3.7 meters away at (-3.7, -0.5). A vehicle with ID 76 is 5.6 meters away at (5.6, -0.4). A vehicle with ID 62 is 7.0 meters away at (1.0, 6.9). A vehicle with ID 60 is 8.1 meters away at (-7.6, 2.8). A unknown object with ID 17 is 11.3 meters away at (7.3, 8.6). A vehicle with ID 63 is 12.0 meters away at (-4.1, 11.3). A vehicle with ID 81 is 15.7 meters away at (-4.3, -15.2). A vehicle with ID 67 is 17.3 meters away at (-8.5, 15.0). A unknown object with ID 70 is 17.6 meters away at (-2.5, 17.4). A unknown object with ID 71 is 18.9 meters away at (-3.6, 18.5).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-5.942196  4.963787] m/s.The vehicle with ID 62 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 unknown object with ID 17 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 81 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 unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -0.3) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A vehicle with ID 61 is 8.0 meters away at (-8.0, 1.1). A vehicle with ID 62 is 9.0 meters away at (-3.1, 8.5). A vehicle with ID 60 is 12.8 meters away at (-11.9, 4.5). A vehicle with ID 80 is 14.2 meters away at (-11.6, 8.3). A vehicle with ID 63 is 15.3 meters away at (-8.2, 12.9). A vehicle with ID 81 is 16.0 meters away at (-8.6, -13.5). A vehicle with ID 68 is 17.1 meters away at (17.0, -2.2). A vehicle with ID 76 is 17.5 meters away at (-12.1, 12.7). A vehicle with ID 79 is 18.5 meters away at (16.4, -8.4). A vehicle with ID 66 is 18.7 meters away at (18.7, 0.0).

The vehicle with ID 61 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 60 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 [ 3.73079   -3.1798322] m/s.The vehicle with ID 63 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-7.384894   6.4975595] m/s.The vehicle with ID 79 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 (4.6, 3.3) m/s. Its current heading (yaw) is 0.63

The most relevant actors are: A vehicle with ID 68 is 9.2 meters away at (7.9, -4.6). A vehicle with ID 66 is 10.1 meters away at (9.8, -2.5). A vehicle with ID 78 is 12.2 meters away at (5.5, 10.8). A vehicle with ID 79 is 13.2 meters away at (7.6, -10.9). A vehicle with ID 62 is 13.4 meters away at (-12.0, 6.0). A vehicle with ID 80 is 14.6 meters away at (-14.6, 0.7). A vehicle with ID 59 is 16.7 meters away at (8.7, 14.2). A vehicle with ID 61 is 16.9 meters away at (-16.9, -1.5). A vehicle with ID 82 is 18.5 meters away at (11.7, -14.3). A vehicle with ID 63 is 20.1 meters away at (-17.1, 10.5).

The vehicle with ID 68 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 80 is traveling at a (x, y) velocity of [ 1.9248737 -1.6536186] 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 82 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 78 is 4.3 meters away at (-3.7, 2.2). A vehicle with ID 59 is 5.6 meters away at (-0.5, 5.6). A vehicle with ID 58 is 10.3 meters away at (3.0, 9.9). A vehicle with ID 66 is 11.1 meters away at (0.6, -11.1). A pedestrian with ID 47 is 11.2 meters away at (1.7, -11.1). A vehicle with ID 68 is 13.3 meters away at (-1.3, -13.2). A vehicle with ID 79 is 19.6 meters away at (-1.8, -19.5). A vehicle with ID 62 is 21.4 meters away at (-21.2, -2.7). A vehicle with ID 82 is 23.1 meters away at (2.5, -23.0). A vehicle with ID 80 is 23.5 meters away at (-21.1, -10.4).

The vehicle with ID 78 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 58 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 pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01350164 -0.00144018] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 82 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 [ 1.6089479 -1.3108414] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.9) m/s. Its current heading (yaw) is -1.94

The most relevant actors are: A vehicle with ID 57 is 6.4 meters away at (-1.0, 6.3). A vehicle with ID 58 is 12.1 meters away at (0.6, 12.1). A vehicle with ID 59 is 17.2 meters away at (-17.1, 1.1). A vehicle with ID 64 is 21.2 meters away at (13.3, -16.5). A vehicle with ID 60 is 24.2 meters away at (-24.0, 3.4). A vehicle with ID 48 is 24.3 meters away at (18.8, -15.4). A vehicle with ID 61 is 24.6 meters away at (-21.9, -11.2). A vehicle with ID 62 is 27.5 meters away at (-25.9, -9.2). A vehicle with ID 55 is 27.8 meters away at (13.5, -24.3). A vehicle with ID 63 is 29.6 meters away at (6.5, 28.9).

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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-3.4609303  1.5722657] m/s.The vehicle with ID 60 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 61 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 55 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.8) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A vehicle with ID 57 is 11.3 meters away at (0.5, 11.3). A vehicle with ID 64 is 14.3 meters away at (10.5, -9.8). A vehicle with ID 59 is 16.8 meters away at (-15.6, 6.2). A vehicle with ID 58 is 17.2 meters away at (2.2, 17.1). A vehicle with ID 61 is 21.4 meters away at (-20.5, -6.1). A vehicle with ID 48 is 22.8 meters away at (20.2, -10.6). A vehicle with ID 60 is 24.2 meters away at (-22.8, 8.2). A vehicle with ID 55 is 24.5 meters away at (14.9, -19.5). A vehicle with ID 62 is 24.8 meters away at (-24.5, -4.3). A vehicle with ID 24 is 28.2 meters away at (-28.0, -3.2).

The vehicle with ID 57 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 [-0.58038723  0.23005787] m/s.The vehicle with ID 59 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 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.The vehicle with ID 60 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 62 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -4.2) m/s. Its current heading (yaw) is -0.92

The most relevant actors are: A vehicle with ID 64 is 7.8 meters away at (7.8, -0.8). A vehicle with ID 55 is 16.4 meters away at (12.5, -10.6). A vehicle with ID 48 is 17.9 meters away at (17.8, -1.9). A vehicle with ID 57 is 20.1 meters away at (-1.9, 20.1). A vehicle with ID 61 is 22.9 meters away at (-22.8, 2.6). A vehicle with ID 59 is 23.3 meters away at (-17.9, 14.9). A vehicle with ID 54 is 23.5 meters away at (19.5, -13.1). A vehicle with ID 23 is 23.6 meters away at (23.3, -3.8). A vehicle with ID 58 is 25.9 meters away at (-0.2, 25.9). A vehicle with ID 62 is 27.2 meters away at (-26.9, 4.5).

The vehicle with ID 64 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 54 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 55 is 5.3 meters away at (3.1, -4.3). A vehicle with ID 64 is 8.7 meters away at (-5.2, 7.0). A vehicle with ID 48 is 9.5 meters away at (8.4, 4.4). A vehicle with ID 36 is 11.3 meters away at (-2.5, -11.1). A vehicle with ID 54 is 12.1 meters away at (10.0, -6.8). A vehicle with ID 23 is 14.0 meters away at (13.8, 2.6). A vehicle with ID 51 is 20.4 meters away at (18.2, -9.4). A vehicle with ID 21 is 21.2 meters away at (21.2, -0.1). A vehicle with ID 50 is 27.5 meters away at (24.8, -11.7). A vehicle with ID 22 is 27.7 meters away at (27.6, -2.5).

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 [-3.0015054  1.271701 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 51 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 50 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.40

The most relevant actors are: A vehicle with ID 1 is 4.0 meters away at (-4.0, 0.6). A vehicle with ID 28 is 15.5 meters away at (-10.3, 11.6). A pedestrian with ID 29 is 18.9 meters away at (14.9, 11.6). A pedestrian with ID 30 is 21.6 meters away at (17.4, 12.8). A pedestrian with ID 31 is 22.2 meters away at (19.2, 11.2). A vehicle with ID 34 is 23.3 meters away at (-17.9, 15.0). A vehicle with ID 32 is 23.7 meters away at (-22.1, -8.4). A vehicle with ID 33 is 24.1 meters away at (-19.9, -13.6). A vehicle with ID 8 is 24.3 meters away at (4.8, 23.8). A vehicle with ID 35 is 24.7 meters away at (-24.6, -1.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.43132016  0.63609266] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.0685985  2.2139955] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.1903732  0.25059965] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.3369871  0.09183805] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1045998 -0.5100278] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.5980742  -0.79239607] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 2.0) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A vehicle with ID 1 is 3.6 meters away at (-3.6, 0.5). A vehicle with ID 34 is 18.2 meters away at (-14.7, 10.7). A vehicle with ID 28 is 21.3 meters away at (-10.7, 18.4). A pedestrian with ID 29 is 21.5 meters away at (18.9, 10.1). A vehicle with ID 32 is 22.8 meters away at (-20.3, -10.4). A vehicle with ID 8 is 22.9 meters away at (6.5, 21.9). A vehicle with ID 35 is 23.1 meters away at (-22.8, -3.8). A pedestrian with ID 30 is 23.7 meters away at (21.4, 10.2). A vehicle with ID 33 is 23.9 meters away at (-18.1, -15.6). A pedestrian with ID 31 is 24.0 meters away at (22.7, 7.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.1528789  1.7151387] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.4859028 -2.361628 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.19313775 6.313698  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.2084126  0.00653238] m/s.The vehicle with ID 32 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 35 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 [ 1.1641471 -0.6007757] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.8225714  -0.89268816] 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, 4.9) m/s. Its current heading (yaw) is 1.99

The most relevant actors are: A vehicle with ID 1 is 3.1 meters away at (-3.1, -0.1). A vehicle with ID 34 is 7.6 meters away at (-7.5, -1.5). A vehicle with ID 8 is 18.4 meters away at (10.7, 14.9). A vehicle with ID 26 is 20.3 meters away at (3.0, 20.1). A vehicle with ID 35 is 21.5 meters away at (-18.6, -10.8). A vehicle with ID 32 is 23.8 meters away at (-16.3, -17.3). A vehicle with ID 21 is 24.1 meters away at (-19.3, 14.5). A pedestrian with ID 29 is 25.2 meters away at (25.0, 2.4). A vehicle with ID 33 is 26.6 meters away at (-14.0, -22.6). A pedestrian with ID 30 is 27.2 meters away at (27.2, 1.7).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.1571593  4.347221 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9462984 -3.8014445] m/s.The vehicle with ID 8 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 35 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 vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.1847827 -2.062631 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.69551796 -0.6599548 ] m/s.The vehicle with ID 33 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 [ 0.5020931 -0.8279828] 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, 6.7) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A vehicle with ID 1 is 3.2 meters away at (-3.1, -0.6). A vehicle with ID 21 is 10.4 meters away at (-9.6, -3.9). A vehicle with ID 26 is 10.4 meters away at (5.9, 8.6). A vehicle with ID 8 is 14.0 meters away at (13.6, 3.3). A cyclist with ID 37 is 16.3 meters away at (-11.8, 11.3). A vehicle with ID 25 is 19.4 meters away at (-18.8, 4.8). A vehicle with ID 38 is 20.6 meters away at (-17.2, 11.2). A vehicle with ID 34 is 22.6 meters away at (-0.3, -22.6). A pedestrian with ID 27 is 23.2 meters away at (-13.3, 19.0). A vehicle with ID 20 is 25.4 meters away at (-4.9, -24.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.28818426  7.1220574 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 3.7820437 -4.5128922] m/s.The vehicle with ID 26 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 cyclist with ID 37 is traveling at a (x, y) velocity of [-0.02313784  0.03646724] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.6035187 -3.1398263] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 0.9539542  -0.74793535] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9413981 -6.047101 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.49190077  1.128957  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.0790913 -8.369319 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -8.4) m/s. Its current heading (yaw) is -1.84

The most relevant actors are: A unknown object with ID 47 is 5.3 meters away at (5.1, -1.4). A unknown object with ID 66 is 5.6 meters away at (4.6, -3.3). A unknown object with ID 46 is 5.8 meters away at (5.7, 0.5). A unknown object with ID 68 is 6.6 meters away at (4.0, -5.3). A unknown object with ID 31 is 6.8 meters away at (5.3, -4.2). A unknown object with ID 26 is 6.8 meters away at (6.3, 2.5). A unknown object with ID 54 is 7.3 meters away at (3.7, -6.3). A unknown object with ID 70 is 8.0 meters away at (3.2, -7.3). A unknown object with ID 65 is 8.1 meters away at (6.9, 4.3). A unknown object with ID 38 is 8.7 meters away at (2.8, -8.2).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 5.139395  -1.4016476], 5.32710075378418 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -8.4) m/s. Its current heading (yaw) is -1.81

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.7, 5.0). A unknown object with ID 70 is 12.1 meters away at (7.6, 9.4). A unknown object with ID 22 is 13.1 meters away at (9.4, 9.1). A unknown object with ID 42 is 13.2 meters away at (8.8, 9.8). A unknown object with ID 68 is 14.2 meters away at (8.4, 11.4). A unknown object with ID 24 is 14.7 meters away at (10.6, 10.2). A unknown object with ID 31 is 15.8 meters away at (9.8, 12.4). A unknown object with ID 69 is 15.9 meters away at (11.6, 10.9). A unknown object with ID 66 is 16.2 meters away at (9.0, 13.5). A unknown object with ID 67 is 17.7 meters away at (13.2, 11.8).

The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.950087 -11.888061] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -8.0) m/s. Its current heading (yaw) is -1.78

The most relevant actors are: A vehicle with ID 71 is 4.3 meters away at (-4.1, -1.3). A unknown object with ID 37 is 27.2 meters away at (11.0, 24.9). A unknown object with ID 70 is 28.2 meters away at (11.4, 25.8). A vehicle with ID 20 is 29.2 meters away at (5.9, 28.7). A vehicle with ID 21 is 31.6 meters away at (-13.2, -28.8). A unknown object with ID 31 is 31.9 meters away at (13.5, 28.8). A unknown object with ID 67 is 33.0 meters away at (17.0, 28.2). A vehicle with ID 53 is 34.3 meters away at (-26.2, -22.2). A vehicle with ID 3 is 34.5 meters away at (4.3, 34.2). A unknown object with ID 39 is 37.8 meters away at (15.3, 34.6).

The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.403237 -11.137444] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 [ -3.0650775 -11.265308 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.9632888 -9.229996 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 4.3055224 15.427537 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -4.219011 -15.869238] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -32.007935 -115.85938 ]
 [ -33.37611  -119.45013 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -8.0) m/s. Its current heading (yaw) is -1.80

The most relevant actors are: A vehicle with ID 71 is 11.0 meters away at (-5.9, -9.3). A vehicle with ID 3 is 19.7 meters away at (0.5, 19.7). A vehicle with ID 20 is 23.5 meters away at (4.3, 23.1). A vehicle with ID 53 is 29.1 meters away at (-15.1, 24.8). A vehicle with ID 21 is 36.5 meters away at (-16.2, -32.7). A unknown object with ID 37 is 42.8 meters away at (14.3, 40.4). A unknown object with ID 67 is 48.2 meters away at (20.2, 43.8). A vehicle with ID 14 is 65.5 meters away at (-10.7, -64.6). A vehicle with ID 13 is 71.5 meters away at (-6.8, -71.2).

The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.9672763 -12.507259 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -3.359685 -14.520667] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ -2.464245 -10.598592] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 3.6262639 16.021431 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.543938 -9.639767] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.9) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 44 is 3.3 meters away at (0.2, -3.3). A vehicle with ID 43 is 5.1 meters away at (-4.9, -1.5). A vehicle with ID 45 is 8.2 meters away at (6.2, -5.3). A vehicle with ID 41 is 9.5 meters away at (9.0, 2.9). A vehicle with ID 50 is 13.4 meters away at (11.4, -7.1). A vehicle with ID 54 is 18.5 meters away at (16.3, -8.9). A vehicle with ID 38 is 19.4 meters away at (19.4, -0.6). A vehicle with ID 9 is 21.1 meters away at (-20.0, 6.8). A pedestrian with ID 15 is 22.3 meters away at (18.5, -12.4). A vehicle with ID 59 is 23.9 meters away at (21.4, -10.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.6169276 -2.2685628] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.2708207 -0.33689  ] m/s.The vehicle 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 (6.6, -2.2) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 50 is 3.0 meters away at (-1.1, -2.8). A vehicle with ID 54 is 5.9 meters away at (3.7, -4.5). A vehicle with ID 45 is 6.2 meters away at (-6.1, -1.0). A vehicle with ID 38 is 7.9 meters away at (6.9, 3.7). A vehicle with ID 41 is 7.9 meters away at (-3.3, 7.2). A vehicle with ID 20 is 8.1 meters away at (8.1, 0.3). A vehicle with ID 59 is 11.0 meters away at (8.9, -6.4). A pedestrian with ID 15 is 11.9 meters away at (8.2, -8.6). A vehicle with ID 44 is 12.2 meters away at (-12.2, 1.0). A vehicle with ID 65 is 15.9 meters away at (13.7, -8.0).

The vehicle with ID 50 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 [-10.867756   3.783758] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.0845809 -0.3569435] m/s.The vehicle with ID 44 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -2.4) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 65 is 3.4 meters away at (-0.0, -3.4). A vehicle with ID 59 is 5.1 meters away at (-4.7, -1.8). A pedestrian with ID 15 is 5.7 meters away at (-3.4, -4.5). A vehicle with ID 16 is 7.0 meters away at (5.0, -4.9). A vehicle with ID 54 is 9.9 meters away at (-9.9, 0.1). A vehicle with ID 38 is 10.7 meters away at (-6.8, 8.3). A vehicle with ID 37 is 14.5 meters away at (1.2, 14.4). A vehicle with ID 50 is 15.0 meters away at (-14.9, 1.9). A vehicle with ID 17 is 19.1 meters away at (16.8, -9.1). A vehicle with ID 33 is 19.6 meters away at (5.6, 18.8).

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 pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.1778723  -0.43099013] m/s.The vehicle with ID 16 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.4) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 17 is 5.0 meters away at (2.6, -4.2). A vehicle with ID 39 is 6.9 meters away at (5.5, 4.1). A vehicle with ID 16 is 9.2 meters away at (-9.2, -0.1). A vehicle with ID 65 is 14.4 meters away at (-14.3, 1.5). A vehicle with ID 40 is 15.5 meters away at (15.4, 0.8). A pedestrian with ID 15 is 15.7 meters away at (-15.7, -0.5). A vehicle with ID 25 is 18.6 meters away at (-0.8, -18.5). A unknown object with ID 6 is 19.4 meters away at (12.9, -14.5). A vehicle with ID 59 is 19.4 meters away at (-19.2, 3.1). A unknown object with ID 26 is 19.5 meters away at (12.3, -15.1).

The vehicle with ID 17 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 16 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.0460631 -0.3257397] m/s.The vehicle with ID 25 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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, 0.6) m/s. Its current heading (yaw) is 1.05

The most relevant actors are: A vehicle with ID 33 is 13.6 meters away at (3.1, 13.3). A pedestrian with ID 22 is 15.6 meters away at (9.0, -12.8). A unknown object with ID 16 is 16.6 meters away at (9.0, -13.9). A unknown object with ID 27 is 17.8 meters away at (15.6, -8.5). A vehicle with ID 6 is 18.7 meters away at (-4.8, 18.0). A unknown object with ID 29 is 20.6 meters away at (17.7, 10.6). A vehicle with ID 20 is 24.9 meters away at (-0.5, 24.9). A vehicle with ID 24 is 30.9 meters away at (-6.8, 30.1). A vehicle with ID 2 is 35.2 meters away at (-18.5, 30.0). A vehicle with ID 31 is 37.4 meters away at (-12.6, 35.2).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.71403414  2.9832425 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.67218626 -0.9368637 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 29 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.8) m/s. Its current heading (yaw) is 1.02

The most relevant actors are: A unknown object with ID 16 is 17.2 meters away at (8.2, -15.1). A unknown object with ID 15 is 17.5 meters away at (11.0, -13.6). A vehicle with ID 33 is 17.5 meters away at (-0.8, 17.5). A unknown object with ID 8 is 17.6 meters away at (13.0, -11.8). A vehicle with ID 6 is 17.7 meters away at (-5.5, 16.8). A unknown object with ID 27 is 17.8 meters away at (14.9, -9.8). A unknown object with ID 29 is 19.4 meters away at (17.0, 9.3). A vehicle with ID 20 is 23.7 meters away at (-1.2, 23.7). A vehicle with ID 24 is 29.9 meters away at (-7.5, 28.9). A vehicle with ID 2 is 34.5 meters away at (-19.2, 28.6).

The unknown object with ID 16 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 33 is traveling at a (x, y) velocity of [-2.0589967  2.2840617] m/s.The unknown object with ID 8 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [  8.181771  -15.1407385], 17.209978103637695 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.5) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 6 is 15.9 meters away at (-6.8, 14.4). A unknown object with ID 29 is 17.0 meters away at (15.5, 6.9). A unknown object with ID 27 is 18.1 meters away at (13.4, -12.2). A unknown object with ID 8 is 18.4 meters away at (11.5, -14.3). A unknown object with ID 15 is 18.6 meters away at (9.6, -16.0). A vehicle with ID 33 is 21.0 meters away at (-7.0, 19.8). A vehicle with ID 20 is 21.4 meters away at (-2.6, 21.2). A vehicle with ID 24 is 28.0 meters away at (-8.9, 26.6). A vehicle with ID 2 is 33.4 meters away at (-20.5, 26.3). A vehicle with ID 31 is 34.8 meters away at (-14.5, 31.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.9151638  2.7634888] m/s.The vehicle with ID 20 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 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 2.1) m/s. Its current heading (yaw) is 1.36

The most relevant actors are: A unknown object with ID 1 is 8.4 meters away at (-5.4, 6.4). A unknown object with ID 13 is 11.7 meters away at (-10.6, -5.1). A vehicle with ID 6 is 13.7 meters away at (-8.2, 10.9). A unknown object with ID 29 is 14.5 meters away at (14.1, 3.3). A vehicle with ID 20 is 18.2 meters away at (-4.0, 17.8). A pedestrian with ID 26 is 23.7 meters away at (7.0, -22.6). A vehicle with ID 24 is 25.3 meters away at (-10.2, 23.1). A vehicle with ID 33 is 27.7 meters away at (-15.5, 23.0). A vehicle with ID 2 is 31.7 meters away at (-21.9, 22.9). A vehicle with ID 31 is 32.3 meters away at (-15.9, 28.2).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 [-0.80454504 -0.14844283] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.1668563  3.748281 ] m/s.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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-5.416587  6.431055], 8.408203125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.2) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 73 is 4.4 meters away at (-1.8, 4.0). A vehicle with ID 74 is 9.0 meters away at (-6.2, -6.6). A vehicle with ID 25 is 15.0 meters away at (-14.8, 2.2). A pedestrian with ID 24 is 19.3 meters away at (10.6, -16.1). A vehicle with ID 75 is 23.3 meters away at (5.9, 22.6). A vehicle with ID 67 is 32.5 meters away at (-31.1, -9.6). A cyclist with ID 48 is 37.1 meters away at (-34.5, -13.6). A vehicle with ID 78 is 41.8 meters away at (-32.3, -26.5). A vehicle with ID 79 is 48.8 meters away at (-28.0, -39.9). A unknown object with ID 76 is 50.0 meters away at (24.0, 43.9).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.8966986 -2.2306092] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.99830353 -2.3046508 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [8.6608161e-05 2.5361913e-04] m/s.The vehicle with ID 75 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 [2.752776 9.269447] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [2.3450096 8.279629 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [1.1862798 4.8862677] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.2) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A vehicle with ID 73 is 5.6 meters away at (-2.8, 4.8). A vehicle with ID 74 is 13.1 meters away at (-8.7, -9.8). A pedestrian with ID 24 is 15.3 meters away at (11.7, -9.9). A vehicle with ID 75 is 29.0 meters away at (6.8, 28.2). A vehicle with ID 78 is 30.2 meters away at (-28.4, -10.2). A vehicle with ID 80 is 38.4 meters away at (-28.8, -25.5). A vehicle with ID 81 is 42.5 meters away at (-32.9, -26.9). A vehicle with ID 79 is 43.1 meters away at (-26.8, -33.8). A vehicle with ID 82 is 52.1 meters away at (-31.7, -41.3). A vehicle with ID 60 is 52.7 meters away at (-34.7, -39.6).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.3235959 -3.7221258] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-2.2566447 -6.762188 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.0537481  -0.03355005] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-0.29399967 -0.97911245] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [1.700565 5.393145] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [1.3727106 4.9640117] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.1246773 4.8848233] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0.18654501 0.97774446] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0.8515117 3.9513142] m/s.

There are active red lights at the following coordinates: [[-27.58299  -36.696682]
 [-31.374367 -36.05863 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -3.2) m/s. Its current heading (yaw) is -1.41

The most relevant actors are: A vehicle with ID 73 is 6.6 meters away at (-6.3, 2.0). A pedestrian with ID 24 is 12.1 meters away at (11.5, -3.7). A vehicle with ID 62 is 24.0 meters away at (-1.5, 23.9). A vehicle with ID 74 is 25.0 meters away at (-14.1, -20.6). A vehicle with ID 78 is 26.1 meters away at (-24.5, 9.0). A vehicle with ID 80 is 26.3 meters away at (-25.5, -6.4). A vehicle with ID 81 is 31.1 meters away at (-30.0, -8.2). A vehicle with ID 75 is 31.9 meters away at (5.3, 31.5). A cyclist with ID 44 is 34.7 meters away at (-19.4, -28.8). A vehicle with ID 79 is 38.7 meters away at (-27.1, -27.6).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.7638966 -5.4812384] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00409041 -0.01673805] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ -3.9415812 -10.262111 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -2.5161102 -10.101339 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [2.4329836 6.7341967] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [2.1798038 7.4786873] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.7759984 6.7735777] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-0.8866498 -2.2493308] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 2.2932477 -1.5825583] m/s.The vehicle with ID 79 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 (2.0, -3.8) m/s. Its current heading (yaw) is -1.08

The most relevant actors are: A pedestrian with ID 24 is 9.8 meters away at (9.2, 3.3). A vehicle with ID 73 is 12.8 meters away at (-12.4, -3.2). A vehicle with ID 62 is 15.6 meters away at (-11.1, 11.0). A vehicle with ID 69 is 25.9 meters away at (-9.6, 24.0). A cyclist with ID 23 is 26.0 meters away at (12.9, -22.6). A vehicle with ID 42 is 27.1 meters away at (-16.3, 21.7). A vehicle with ID 19 is 27.2 meters away at (-21.7, -16.4). A vehicle with ID 80 is 28.7 meters away at (-22.6, 17.7). A vehicle with ID 46 is 31.1 meters away at (-27.5, 14.6). A vehicle with ID 82 is 31.6 meters away at (-30.3, -9.1).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00432152 -0.00328485] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.88064  -6.472113] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.4823892 -9.791818 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ -4.8574967 -12.727222 ] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [-7.741272  4.551766] m/s.The vehicle with ID 42 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 [ -2.6388755 -12.629815 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [3.2054815 9.523207 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.8713562 8.848436 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [1.6719131 7.1975493] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [9.207144  3.2916107], 9.77784252166748 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 6.4) m/s. Its current heading (yaw) is 1.12

The most relevant actors are: A pedestrian with ID 65 is 11.0 meters away at (11.0, 0.3). A pedestrian with ID 67 is 11.3 meters away at (11.3, 1.2). A pedestrian with ID 74 is 13.6 meters away at (13.4, 2.3). A pedestrian with ID 76 is 14.1 meters away at (13.4, 4.5). A pedestrian with ID 70 is 14.3 meters away at (14.2, -1.7). A vehicle with ID 54 is 14.4 meters away at (-8.8, -11.5). A pedestrian with ID 81 is 15.2 meters away at (14.1, 5.6). A unknown object with ID 50 is 18.3 meters away at (4.1, 17.9). A pedestrian with ID 55 is 19.6 meters away at (-18.1, -7.4). A vehicle with ID 77 is 19.6 meters away at (-16.4, 10.7).

The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00044187  0.01842591] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01482882 0.02782694] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.02597329  0.07121018] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.02014267  0.02612055] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00459776  0.0296569 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [1.0746183 3.1942   ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.00959621  0.01585203] m/s.The unknown object with ID 50 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 [0.00338063 0.01854814] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 6.7) m/s. Its current heading (yaw) is 1.04

The most relevant actors are: A unknown object with ID 50 is 5.6 meters away at (-3.2, 4.7). A vehicle with ID 16 is 6.0 meters away at (5.8, 1.5). A vehicle with ID 52 is 8.2 meters away at (-2.3, 7.8). A pedestrian with ID 81 is 10.2 meters away at (6.9, -7.5). A pedestrian with ID 76 is 10.6 meters away at (6.2, -8.6). A pedestrian with ID 74 is 12.3 meters away at (6.0, -10.7). A pedestrian with ID 67 is 12.6 meters away at (4.0, -11.9). A pedestrian with ID 65 is 13.3 meters away at (3.7, -12.8). A pedestrian with ID 70 is 16.4 meters away at (7.0, -14.8). A vehicle with ID 48 is 22.1 meters away at (14.8, 16.3).

The unknown object with ID 50 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.00638158 0.01249319] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01297056 0.02100417] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.16841811  0.20895995] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.00626033 0.00687117] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00835141 0.00375873] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.0136139   0.01383339] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.158947  4.674206], 5.641555309295654 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 7.4) m/s. Its current heading (yaw) is 1.02

The most relevant actors are: A vehicle with ID 48 is 6.8 meters away at (6.3, 2.5). A vehicle with ID 51 is 8.5 meters away at (-2.0, 8.3). A vehicle with ID 52 is 12.2 meters away at (-10.7, -5.8). A vehicle with ID 16 is 12.3 meters away at (-2.6, -12.1). A vehicle with ID 4 is 13.5 meters away at (10.3, 8.7). A unknown object with ID 50 is 14.8 meters away at (-11.6, -9.1). A vehicle with ID 53 is 15.7 meters away at (2.5, 15.6). A pedestrian with ID 81 is 21.4 meters away at (-1.6, -21.3). A pedestrian with ID 76 is 22.5 meters away at (-2.3, -22.4). A pedestrian with ID 74 is 24.1 meters away at (-1.8, -24.0).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 unknown object with ID 50 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 pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.02017548 -0.00619014] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01534634 0.03451183] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.4217865  0.65133697] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 6.2) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 4 is 5.1 meters away at (2.2, -4.6). A vehicle with ID 53 is 6.0 meters away at (-5.7, 2.1). A vehicle with ID 49 is 10.5 meters away at (8.6, 6.0). A vehicle with ID 48 is 10.8 meters away at (-1.7, -10.7). A vehicle with ID 51 is 11.3 meters away at (-10.1, -5.0). A pedestrian with ID 41 is 17.5 meters away at (-3.6, 17.2). A pedestrian with ID 17 is 18.0 meters away at (-4.2, 17.5). A vehicle with ID 52 is 26.9 meters away at (-18.9, -19.2). A vehicle with ID 16 is 27.6 meters away at (-10.7, -25.4). A unknown object with ID 50 is 30.0 meters away at (-19.9, -22.4).

The vehicle with ID 4 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 48 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 41 is traveling at a (x, y) velocity of [-0.512565  -0.7699936] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.5120033 -0.8210768] m/s.The vehicle with ID 52 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 unknown object 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 -1.91

The most relevant actors are: A vehicle with ID 68 is 4.8 meters away at (-1.2, 4.6). A vehicle with ID 73 is 8.1 meters away at (2.9, 7.6). A vehicle with ID 72 is 9.7 meters away at (8.3, 5.0). A vehicle with ID 75 is 14.8 meters away at (10.4, 10.6). A unknown object with ID 76 is 16.6 meters away at (1.2, 16.6). A vehicle with ID 81 is 18.9 meters away at (-15.7, -10.5). A vehicle with ID 86 is 19.3 meters away at (2.7, -19.1). A vehicle with ID 89 is 19.8 meters away at (-19.6, -2.7). A vehicle with ID 80 is 19.9 meters away at (12.0, 15.9). A vehicle with ID 83 is 21.3 meters away at (4.4, 20.9).

The vehicle with ID 68 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 [-0.354572  -1.0362853] m/s.The vehicle with ID 72 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 [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [5.5228443 1.2115753] m/s.The vehicle with ID 89 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 83 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 (-0.5, -1.4) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 68 is 5.9 meters away at (-0.8, 5.8). A vehicle with ID 73 is 8.6 meters away at (3.1, 8.0). A vehicle with ID 72 is 10.7 meters away at (8.7, 6.2). A vehicle with ID 75 is 15.9 meters away at (10.8, 11.7). A vehicle with ID 81 is 16.7 meters away at (-13.4, -10.1). A vehicle with ID 89 is 19.3 meters away at (-19.2, -1.5). A vehicle with ID 70 is 20.4 meters away at (13.2, -15.6). A vehicle with ID 80 is 21.1 meters away at (12.4, 17.1). A vehicle with ID 83 is 22.5 meters away at (4.9, 22.0). A pedestrian with ID 59 is 23.1 meters away at (3.9, 22.8).

The vehicle with ID 68 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 72 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 [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 3.0815227 -1.2087983] m/s.The vehicle with ID 89 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 [-3.3004012  1.1971819] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.05868562 0.08423945] 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 -1.88

The most relevant actors are: A vehicle with ID 68 is 8.8 meters away at (0.3, 8.8). A vehicle with ID 73 is 10.9 meters away at (3.9, 10.2). A vehicle with ID 81 is 11.4 meters away at (-2.3, -11.2). A vehicle with ID 72 is 13.3 meters away at (9.8, 9.1). A vehicle with ID 70 is 15.8 meters away at (10.7, -11.5). A vehicle with ID 89 is 18.3 meters away at (-18.2, 1.4). A vehicle with ID 75 is 18.8 meters away at (11.8, 14.7). A vehicle with ID 92 is 22.0 meters away at (-3.0, -21.8). A unknown object with ID 7 is 23.6 meters away at (21.1, -10.5). A vehicle with ID 80 is 24.1 meters away at (13.5, 20.0).

The vehicle with ID 68 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 [-0.31373557 -0.9550466 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 6.993896  -2.4208863] m/s.The vehicle with ID 72 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 [-0.3457309   0.10571277] m/s.The vehicle with ID 89 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 [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0.9120779 2.3066013] m/s.The unknown object with ID 7 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -3.7) m/s. Its current heading (yaw) is -1.30

The most relevant actors are: A vehicle with ID 70 is 12.1 meters away at (10.7, -5.5). A vehicle with ID 73 is 12.9 meters away at (2.8, 12.6). A vehicle with ID 92 is 13.0 meters away at (-1.4, -12.9). A vehicle with ID 68 is 14.9 meters away at (0.5, 14.9). A vehicle with ID 81 is 17.8 meters away at (14.4, -10.4). A vehicle with ID 72 is 18.1 meters away at (10.0, 15.1). A vehicle with ID 89 is 19.6 meters away at (-18.0, 7.6). A vehicle with ID 87 is 20.5 meters away at (3.9, -20.1). A unknown object with ID 7 is 21.7 meters away at (21.3, -4.6). A vehicle with ID 66 is 21.8 meters away at (6.7, -20.7).

The vehicle with ID 70 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 [-0.699516  -1.9621968] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0.3062538  0.46100104] m/s.The vehicle with ID 68 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 [ 9.422225  -3.0512538] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 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 vehicle with ID 66 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, -0.4) m/s. Its current heading (yaw) is -1.51

The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.6). A unknown object with ID 23 is 17.4 meters away at (-16.8, 4.6). A unknown object with ID 22 is 17.4 meters away at (-16.1, 6.6). A unknown object with ID 24 is 18.5 meters away at (-18.3, 2.8). A unknown object with ID 25 is 18.7 meters away at (-16.5, 8.8). A unknown object with ID 9 is 20.0 meters away at (-18.6, 7.4). A unknown object with ID 15 is 20.2 meters away at (-19.5, 5.5). A unknown object with ID 27 is 22.2 meters away at (-12.5, 18.4). A unknown object with ID 17 is 24.8 meters away at (-14.5, 20.1). A unknown object with ID 19 is 26.4 meters away at (-9.5, 24.7).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 -1.51

The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.4). A vehicle with ID 30 is 16.8 meters away at (-16.7, -2.2). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.7). A unknown object with ID 22 is 17.5 meters away at (-16.1, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.0). A unknown object with ID 25 is 18.8 meters away at (-16.5, 9.0). A unknown object with ID 27 is 22.4 meters away at (-12.4, 18.6). A unknown object with ID 19 is 26.6 meters away at (-9.6, 24.8). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).

The vehicle with ID 12 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 [2.8254716 6.3926487] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.06461941 -0.03990267] 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 -1.51

The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.3). A vehicle with ID 30 is 15.3 meters away at (-11.5, 10.1). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.8). A unknown object with ID 22 is 17.5 meters away at (-16.2, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.0). A unknown object with ID 25 is 18.7 meters away at (-16.5, 8.9). A unknown object with ID 27 is 22.4 meters away at (-12.4, 18.7). A unknown object with ID 19 is 26.7 meters away at (-9.6, 24.9). A pedestrian with ID 6 is 28.1 meters away at (-10.6, 26.0). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).

The vehicle with ID 12 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 [2.3271952 5.9208   ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00171808 -0.01113939] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00155203 -0.00020114] 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 -1.51

The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.3). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.8). A unknown object with ID 22 is 17.5 meters away at (-16.1, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.1). A unknown object with ID 25 is 18.8 meters away at (-16.5, 9.0). A unknown object with ID 27 is 22.4 meters away at (-12.5, 18.7). A vehicle with ID 30 is 23.6 meters away at (-6.7, 22.6). A unknown object with ID 1 is 28.0 meters away at (-12.8, 25.0). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 vehicle with ID 30 is traveling at a (x, y) velocity of [2.3219824 6.6639028] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00062137 -0.00496631] 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, -0.7) m/s. Its current heading (yaw) is -1.50

The most relevant actors are: A unknown object with ID 5 is 23.1 meters away at (-13.8, -18.6). A vehicle with ID 6 is 29.1 meters away at (-3.9, 28.9). A cyclist with ID 7 is 31.1 meters away at (12.5, -28.5).

The unknown object with ID 5 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 cyclist with ID 7 is traveling at a (x, y) velocity of [-0.01721994 -0.00941306] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-13.766654 -18.60889 ], 23.14760398864746 meters away.)


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 -1.50

The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.3). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A cyclist with ID 7 is 30.8 meters away at (12.5, -28.1). A unknown object with ID 3 is 67.2 meters away at (-21.1, -63.7).

The unknown object with ID 5 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 cyclist with ID 7 is traveling at a (x, y) velocity of [0.00735759 0.02718648] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50

The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.2). A unknown object with ID 2 is 28.1 meters away at (-14.6, -24.0). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A cyclist with ID 7 is 30.1 meters away at (10.9, -28.0). A pedestrian with ID 1 is 38.0 meters away at (13.9, -35.3).

The unknown object with ID 5 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-2.7357335   0.18411145] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.21615112  0.11786636] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-13.830204 -18.23806 ], 22.888891220092773 meters away.)


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 -1.50

The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.2). A cyclist with ID 7 is 24.7 meters away at (2.2, -24.6). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A unknown object with ID 8 is 72.9 meters away at (-12.9, 71.8).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-4.844942   3.3274977] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-13.825048 -18.225061], 22.87541961669922 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 7 is 33.8 meters away at (-24.6, -23.1). A unknown object with ID 8 is 35.5 meters away at (-25.8, -24.4). A vehicle with ID 11 is 39.9 meters away at (31.1, -25.1). A vehicle with ID 9 is 49.2 meters away at (-15.0, 46.9). A vehicle with ID 12 is 66.1 meters away at (-39.2, -53.2).

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.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.7396188  1.9290984] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8295019  6.594479 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.3433747 -3.221963 ] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-24.61407  -23.135397], 33.78015899658203 meters away.)


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 1.33

The most relevant actors are: A vehicle with ID 11 is 35.5 meters away at (24.7, -25.5). A unknown object with ID 7 is 39.2 meters away at (-27.5, -27.9). A unknown object with ID 8 is 41.0 meters away at (-28.7, -29.3). A unknown object with ID 2 is 55.5 meters away at (-26.5, 48.8). A vehicle with ID 9 is 59.7 meters away at (-22.6, 55.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.9536614  2.508917 ] 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.The unknown object with ID 2 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 [-2.375659  6.904861] 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, 3.7) m/s. Its current heading (yaw) is 1.92

The most relevant actors are: A pedestrian with ID 3 is 29.5 meters away at (1.3, -29.5). A vehicle with ID 11 is 35.3 meters away at (21.4, -28.1). A unknown object with ID 7 is 44.6 meters away at (-27.2, -35.4). A vehicle with ID 9 is 67.5 meters away at (-26.3, 62.1). A vehicle with ID 5 is 75.2 meters away at (-23.1, -71.6).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9005274   0.09796842] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.0152402  2.6398084] m/s.The unknown object with ID 7 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 [-1.6282085  7.4217887] m/s.The vehicle with ID 5 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 (-1.8, 3.2) m/s. Its current heading (yaw) is 2.08

The most relevant actors are: A pedestrian with ID 3 is 36.8 meters away at (2.3, -36.7). A vehicle with ID 11 is 36.9 meters away at (20.6, -30.6). A vehicle with ID 9 is 74.2 meters away at (-25.2, 69.8).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2005166  -0.34090585] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.2252371  1.9792047] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.8316267  7.608201 ] 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, 1.2) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A pedestrian with ID 9 is 17.9 meters away at (-8.2, -16.0). A unknown object with ID 26 is 31.0 meters away at (-0.8, 31.0). A vehicle with ID 29 is 34.0 meters away at (26.3, 21.6). A unknown object with ID 10 is 34.6 meters away at (32.2, 12.6). A unknown object with ID 21 is 34.6 meters away at (23.7, 25.2). A unknown object with ID 22 is 35.4 meters away at (23.8, 26.1). A unknown object with ID 5 is 37.3 meters away at (35.1, 12.6). A unknown object with ID 28 is 37.6 meters away at (26.1, 27.0). A vehicle with ID 27 is 39.0 meters away at (32.9, 21.0). A unknown object with ID 2 is 39.1 meters away at (28.5, 26.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00053401 -0.00443662] m/s.The unknown object with ID 26 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 unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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, 0.1) m/s. Its current heading (yaw) is 1.45

The most relevant actors are: A pedestrian with ID 9 is 18.6 meters away at (-8.3, -16.6). A unknown object with ID 26 is 30.4 meters away at (-0.9, 30.4). A vehicle with ID 29 is 33.5 meters away at (26.2, 20.9). A unknown object with ID 10 is 34.3 meters away at (32.2, 11.9). A unknown object with ID 22 is 34.8 meters away at (23.7, 25.5). A unknown object with ID 5 is 37.0 meters away at (35.0, 12.0). A unknown object with ID 28 is 37.1 meters away at (26.0, 26.4). A vehicle with ID 27 is 38.6 meters away at (32.8, 20.3). A unknown object with ID 16 is 39.3 meters away at (28.4, 27.2). A pedestrian with ID 8 is 39.7 meters away at (38.0, 11.2).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00156538 -0.00146488] m/s.The unknown object with ID 26 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 unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.222925 -0.389058] 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 1.45

The most relevant actors are: A pedestrian with ID 9 is 18.6 meters away at (-8.3, -16.7). A unknown object with ID 26 is 30.3 meters away at (-0.9, 30.3). A unknown object with ID 7 is 32.3 meters away at (29.7, 12.8). A vehicle with ID 29 is 33.4 meters away at (26.2, 20.8). A unknown object with ID 10 is 34.2 meters away at (32.1, 11.8). A unknown object with ID 22 is 34.7 meters away at (23.7, 25.4). A unknown object with ID 5 is 36.9 meters away at (35.0, 11.9). A unknown object with ID 28 is 37.0 meters away at (26.0, 26.3). A pedestrian with ID 8 is 37.1 meters away at (35.5, 10.8). A vehicle with ID 27 is 38.6 meters away at (32.9, 20.2).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00043315 -0.00078153] m/s.The unknown object with ID 26 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 vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0352893  -0.08887146] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching