The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.4) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 14 is 12.8 meters away at (-12.0, 4.4). A vehicle with ID 64 is 13.5 meters away at (-1.7, -13.4). A pedestrian with ID 60 is 14.0 meters away at (4.5, 13.3). A unknown object with ID 67 is 14.4 meters away at (9.6, -10.8). A vehicle with ID 59 is 14.6 meters away at (-14.4, 2.1). A vehicle with ID 63 is 17.3 meters away at (0.6, -17.3). A vehicle with ID 66 is 18.5 meters away at (8.1, 16.7). A vehicle with ID 56 is 19.5 meters away at (19.4, -2.7). A vehicle with ID 49 is 20.1 meters away at (-3.9, -19.7). A vehicle with ID 62 is 20.7 meters away at (-20.2, 4.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.5614459  -0.25721088] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.4885784 1.3658152] m/s.The unknown object with ID 67 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 63 is traveling at a (x, y) velocity of [-2.565293 -7.266891] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -2.6) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A vehicle with ID 56 is 11.0 meters away at (11.0, 1.0). A vehicle with ID 64 is 13.9 meters away at (-10.0, -9.7). A vehicle with ID 55 is 15.0 meters away at (14.9, -2.1). A vehicle with ID 14 is 18.8 meters away at (-17.5, 7.0). A unknown object with ID 43 is 19.1 meters away at (18.5, -4.7). A vehicle with ID 49 is 20.0 meters away at (-12.0, -16.0). A vehicle with ID 72 is 20.1 meters away at (7.6, -18.6). A pedestrian with ID 60 is 20.1 meters away at (-3.0, 19.9). A vehicle with ID 66 is 20.3 meters away at (-0.3, 20.3). A vehicle with ID 73 is 22.4 meters away at (10.2, -19.9).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.1478055 -0.9428972] m/s.The unknown object with ID 43 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.33260605 1.3762971 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.0) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 55 is 6.5 meters away at (5.4, 3.6). A vehicle with ID 56 is 6.8 meters away at (1.5, 6.7). A unknown object with ID 43 is 9.1 meters away at (9.0, 1.0). A vehicle with ID 72 is 13.0 meters away at (-1.9, -12.9). A vehicle with ID 52 is 13.1 meters away at (12.9, -2.3). A vehicle with ID 73 is 14.3 meters away at (0.7, -14.3). A vehicle with ID 19 is 17.2 meters away at (11.6, -12.7). A vehicle with ID 51 is 18.5 meters away at (17.5, -6.0). A vehicle with ID 64 is 20.0 meters away at (-19.5, -4.1). A vehicle with ID 54 is 23.9 meters away at (21.9, -9.4).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 52 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 19 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 64 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -3.8) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 21 is 16.7 meters away at (-15.6, -5.8). A pedestrian with ID 25 is 19.0 meters away at (7.6, 17.4). A vehicle with ID 20 is 20.9 meters away at (-18.2, 10.4). A vehicle with ID 17 is 24.1 meters away at (-24.1, 1.4). A vehicle with ID 30 is 29.8 meters away at (20.8, -21.3). A vehicle with ID 18 is 29.9 meters away at (-29.6, 4.0). A vehicle with ID 19 is 30.0 meters away at (-30.0, 0.4). A pedestrian with ID 22 is 41.6 meters away at (-33.8, 24.3). A pedestrian with ID 24 is 43.1 meters away at (-35.1, 25.0). A pedestrian with ID 23 is 43.3 meters away at (-35.7, 24.5).

The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.8393447  1.2319739] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.224319    0.02039452] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 6.078787  -2.1686654] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.67501724  0.27572635] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.163638   3.5271819] 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.01676396 -0.00852301] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.02231368 -0.01863465] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.05526181 0.03292827] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -4.0) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A vehicle with ID 30 is 14.5 meters away at (-12.7, -7.0). A pedestrian with ID 31 is 24.3 meters away at (24.3, 0.6). A vehicle with ID 6 is 25.2 meters away at (18.9, 16.7). A vehicle with ID 20 is 29.3 meters away at (-25.7, 14.1). A pedestrian with ID 32 is 35.5 meters away at (35.3, -3.2). A vehicle with ID 21 is 39.5 meters away at (-39.3, 4.1). A vehicle with ID 17 is 44.2 meters away at (-43.2, 9.4). A vehicle with ID 19 is 49.4 meters away at (-48.7, 8.3). A vehicle with ID 18 is 49.7 meters away at (-48.3, 11.8). A pedestrian with ID 22 is 61.6 meters away at (-52.6, 32.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-6.458287   2.6254613] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2484697   0.54418254] m/s.The vehicle with ID 6 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 [ 5.039524  -1.8882052] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9386202   0.50489825] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.6676035  0.6835052] m/s.The vehicle with ID 17 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03226604 -0.01822168] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -3.7) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A pedestrian with ID 31 is 9.9 meters away at (2.7, 9.5). A pedestrian with ID 32 is 15.3 meters away at (14.2, 5.5). A vehicle with ID 6 is 24.6 meters away at (-0.4, 24.6). A vehicle with ID 20 is 41.9 meters away at (-36.5, 20.7). A vehicle with ID 30 is 43.1 meters away at (-42.7, 5.2). A pedestrian with ID 2 is 43.6 meters away at (42.8, -8.1). A pedestrian with ID 8 is 44.0 meters away at (43.3, -7.4). A pedestrian with ID 11 is 44.4 meters away at (43.9, -6.8). A vehicle with ID 1 is 61.4 meters away at (61.4, -3.0). A vehicle with ID 21 is 61.7 meters away at (-60.4, 12.7).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.5154345  0.6382318] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0333683  0.5509716] m/s.The vehicle with ID 6 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 [3.0984643 1.1412694] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.4362617  1.8866034] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1570297   0.46977496] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.090097   0.4966674] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0828309  0.5343513] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.633098  -2.5992522] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.45361125  0.19415958] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [2.7475471 9.548944 ], 9.936365127563477 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -3.4) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A pedestrian with ID 32 is 15.4 meters away at (-7.0, 13.7). A pedestrian with ID 2 is 21.7 meters away at (21.7, 0.7). A pedestrian with ID 8 is 22.1 meters away at (22.1, 1.4). A pedestrian with ID 3 is 22.6 meters away at (22.6, 1.9). A pedestrian with ID 11 is 22.8 meters away at (22.7, 2.1). A pedestrian with ID 31 is 26.2 meters away at (-19.3, 17.8). A cyclist with ID 5 is 32.5 meters away at (-29.9, 12.9). A vehicle with ID 1 is 40.0 meters away at (39.9, -1.9). A pedestrian with ID 16 is 42.7 meters away at (42.3, -6.1). A vehicle with ID 20 is 60.5 meters away at (-51.7, 31.4).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1535373   0.46836168] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.99672604  0.92876214] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0325365  0.8503008] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.96051323  0.9318389 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0712497   0.83107173] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2161281   0.47509944] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-2.194607   0.5265211] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.4051234 -3.068602 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4326459   0.60800356] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.80158883 1.441419  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -0.2) m/s. Its current heading (yaw) is -0.03

The most relevant actors are: A vehicle with ID 8 is 6.3 meters away at (-1.6, 6.1). A vehicle with ID 9 is 23.3 meters away at (-21.8, 8.1). A vehicle with ID 11 is 28.0 meters away at (-18.3, 21.1). A vehicle with ID 12 is 42.3 meters away at (-31.7, -28.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.2757291 9.140488 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -0.2) m/s. Its current heading (yaw) is -0.03

The most relevant actors are: A vehicle with ID 8 is 17.3 meters away at (-16.0, 6.7). A vehicle with ID 11 is 39.4 meters away at (-32.8, 21.8). A vehicle with ID 9 is 46.4 meters away at (-36.2, 29.0). A vehicle with ID 1 is 67.5 meters away at (41.7, -53.1).

The vehicle 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 [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.35268798 10.854843  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -0.5) m/s. Its current heading (yaw) is -0.08

The most relevant actors are: A unknown object with ID 6 is 7.9 meters away at (2.2, -7.6). A vehicle with ID 8 is 29.4 meters away at (-28.6, 7.1). A vehicle with ID 11 is 50.5 meters away at (-45.4, 22.1). A vehicle with ID 1 is 60.2 meters away at (29.3, -52.6). A vehicle with ID 2 is 72.0 meters away at (33.8, -63.6). A vehicle with ID 9 is 72.5 meters away at (-50.2, 52.3).

The unknown object with ID 6 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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 [-1.2744186 12.22338  ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.2107086 -7.6203823], 7.934573650360107 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.8) m/s. Its current heading (yaw) is -0.82

The most relevant actors are: A vehicle with ID 8 is 39.7 meters away at (-38.1, 11.0). A vehicle with ID 1 is 52.4 meters away at (19.9, -48.5). A vehicle with ID 11 is 60.9 meters away at (-55.0, 26.1). A vehicle with ID 2 is 64.4 meters away at (24.2, -59.7). A unknown object with ID 4 is 67.1 meters away at (-66.6, 8.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 2.3) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 13 is 7.6 meters away at (-4.5, 6.1). A cyclist with ID 64 is 18.7 meters away at (-3.2, 18.4). A vehicle with ID 11 is 19.4 meters away at (-16.2, 10.8). A pedestrian with ID 51 is 20.1 meters away at (12.7, 15.6). A pedestrian with ID 56 is 32.9 meters away at (-32.9, 0.2). A pedestrian with ID 66 is 33.7 meters away at (-15.1, 30.1). A unknown object with ID 53 is 33.9 meters away at (31.7, 11.9). A pedestrian with ID 71 is 36.5 meters away at (-19.7, 30.7). A pedestrian with ID 69 is 38.4 meters away at (-23.7, 30.3). A pedestrian with ID 70 is 38.9 meters away at (-23.4, 31.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [ 5.7751627 -2.4337876] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.02818712 -0.00222563] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.6270902 -1.4314792] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.4286563 0.4818489] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.5183507  -0.39959013] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.01343578 0.02028641] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00554957  0.008573  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 1.9) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A vehicle with ID 13 is 5.8 meters away at (5.5, 1.9). A vehicle with ID 11 is 8.9 meters away at (-6.0, 6.6). A pedestrian with ID 56 is 24.6 meters away at (-23.8, -6.4). A pedestrian with ID 51 is 25.5 meters away at (22.8, 11.4). A pedestrian with ID 66 is 26.7 meters away at (-2.4, 26.6). A pedestrian with ID 1 is 28.9 meters away at (-26.8, -10.7). A vehicle with ID 60 is 38.7 meters away at (36.0, -14.3). A pedestrian with ID 62 is 38.9 meters away at (-37.9, 8.4). A pedestrian with ID 67 is 39.9 meters away at (-38.3, 11.5). A pedestrian with ID 68 is 41.1 meters away at (-39.5, 11.6).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.5442535 -1.1046201] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.00055064 -0.00052593] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.3971187  0.38155523] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8060528 1.0629448] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-9.830444   3.9214532] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.01226553  0.01639932] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.54290754 0.8892593 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.4970408  0.84909654] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.0) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A vehicle with ID 11 is 4.0 meters away at (0.3, 4.0). A vehicle with ID 13 is 12.0 meters away at (12.0, -0.8). A pedestrian with ID 56 is 21.6 meters away at (-18.7, -10.9). A pedestrian with ID 1 is 22.7 meters away at (-19.1, -12.2). A vehicle with ID 60 is 27.3 meters away at (25.4, -10.1). A pedestrian with ID 62 is 32.0 meters away at (-31.5, 5.9). A pedestrian with ID 67 is 33.0 meters away at (-31.4, 9.9). A pedestrian with ID 68 is 33.9 meters away at (-32.4, 9.9). A cyclist with ID 42 is 36.0 meters away at (36.0, 1.9). A pedestrian with ID 3 is 38.9 meters away at (-24.5, 30.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9966365 -0.7996915] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.70627004 0.50996125] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-7.4120336  3.0339692] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.01150675  0.02108091] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.02363333 0.10277531] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.04113223 0.12350079] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 5.734937  -2.4702573] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.05924274 0.16437681] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.2) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 11 is 4.1 meters away at (2.9, 2.9). A vehicle with ID 13 is 14.6 meters away at (14.5, -2.0). A vehicle with ID 60 is 16.9 meters away at (15.7, -6.2). A pedestrian with ID 1 is 19.4 meters away at (-15.2, -12.1). A pedestrian with ID 56 is 22.5 meters away at (-18.0, -13.6). A pedestrian with ID 62 is 29.3 meters away at (-28.9, 4.9). A pedestrian with ID 67 is 30.3 meters away at (-29.0, 8.9). A pedestrian with ID 68 is 31.1 meters away at (-29.7, 9.1). A pedestrian with ID 3 is 36.4 meters away at (-21.9, 29.1). A pedestrian with ID 6 is 37.2 meters away at (-22.5, 29.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-4.719453   1.9711034] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8961506 0.5207848] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.6982769 -1.0831268] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.0021064  0.00055902] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.01481347  0.01009802] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.00353522 0.0377564 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.06556889 -0.04072983] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.0711239 -0.0445818] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.3) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A vehicle with ID 6 is 7.7 meters away at (0.9, -7.7). A pedestrian with ID 19 is 13.5 meters away at (-11.3, -7.3). A vehicle with ID 26 is 13.7 meters away at (12.8, -4.9). A cyclist with ID 21 is 14.0 meters away at (7.0, -12.1). A pedestrian with ID 22 is 14.1 meters away at (-12.7, -6.1). A vehicle with ID 4 is 15.4 meters away at (-3.8, -14.9). A vehicle with ID 24 is 16.3 meters away at (10.1, -12.7). A vehicle with ID 27 is 17.2 meters away at (14.8, -8.8). A vehicle with ID 30 is 17.4 meters away at (17.4, -1.1). A vehicle with ID 11 is 19.2 meters away at (-16.5, 9.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [1.4390122 6.0164003] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00164801  0.00592303] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.02084466 -0.00405002] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01109849  0.01029364] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.06117142  7.260426  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 [2.7851462  0.25003564] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 8.4) m/s. Its current heading (yaw) is 1.17

The most relevant actors are: A vehicle with ID 6 is 10.0 meters away at (-0.8, -10.0). A vehicle with ID 4 is 16.2 meters away at (-7.7, -14.2). A vehicle with ID 11 is 18.9 meters away at (-18.2, -5.0). A vehicle with ID 33 is 19.8 meters away at (16.1, -11.5). A vehicle with ID 30 is 20.0 meters away at (10.7, -16.9). A vehicle with ID 26 is 21.5 meters away at (6.1, -20.7). A vehicle with ID 31 is 23.0 meters away at (13.3, -18.8). A vehicle with ID 27 is 25.9 meters away at (8.0, -24.7). A cyclist with ID 21 is 28.1 meters away at (0.2, -28.1). A vehicle with ID 24 is 28.7 meters away at (3.4, -28.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [3.3086889 7.9344764] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [3.1388202 9.323023 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.1651626 0.7237699] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00753877  0.01325977] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 8.5) m/s. Its current heading (yaw) is 1.12

The most relevant actors are: A vehicle with ID 6 is 9.4 meters away at (-0.8, -9.4). A vehicle with ID 4 is 13.1 meters away at (-7.5, -10.8). A vehicle with ID 16 is 25.3 meters away at (19.5, 16.2). A vehicle with ID 33 is 29.6 meters away at (8.4, -28.3). A vehicle with ID 11 is 29.6 meters away at (-21.6, -20.3). A vehicle with ID 30 is 33.9 meters away at (3.0, -33.7). A vehicle with ID 31 is 36.1 meters away at (5.5, -35.7). A vehicle with ID 26 is 37.6 meters away at (-1.6, -37.5). A vehicle with ID 27 is 41.6 meters away at (0.3, -41.6). A cyclist with ID 21 is 45.4 meters away at (-7.3, -44.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [4.4581327 9.567975 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.4292064 10.871948 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.5317016 -6.5333095] m/s.The vehicle with ID 33 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 [2.6203327 1.2157305] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.01544852 0.00903072] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 8.5) m/s. Its current heading (yaw) is 1.06

The most relevant actors are: A vehicle with ID 6 is 6.1 meters away at (0.7, -6.1). A vehicle with ID 4 is 8.6 meters away at (-6.4, -5.7). A vehicle with ID 16 is 13.8 meters away at (2.4, -13.6). A vehicle with ID 11 is 42.0 meters away at (-25.0, -33.8). A vehicle with ID 33 is 45.2 meters away at (-0.3, -45.2). A vehicle with ID 30 is 51.0 meters away at (-5.7, -50.6). A vehicle with ID 31 is 52.8 meters away at (-3.2, -52.7). A vehicle with ID 26 is 55.4 meters away at (-10.3, -54.4). A vehicle with ID 27 is 59.1 meters away at (-8.4, -58.5). A vehicle with ID 24 is 63.8 meters away at (-13.0, -62.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.9694953 10.842867 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.6340613 11.249788 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-3.7928958 -6.2884364] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.859211  2.3780622] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 27 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.9) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 37 is 8.9 meters away at (0.3, 8.9). A vehicle with ID 38 is 9.4 meters away at (7.8, 5.1). A vehicle with ID 43 is 13.8 meters away at (-4.3, -13.1). A vehicle with ID 41 is 14.2 meters away at (2.1, 14.0). A vehicle with ID 54 is 17.5 meters away at (-17.3, -2.4). A vehicle with ID 46 is 20.7 meters away at (4.0, 20.3). A vehicle with ID 45 is 23.3 meters away at (-23.3, -0.4). A vehicle with ID 50 is 26.0 meters away at (13.9, 22.0). A vehicle with ID 35 is 26.6 meters away at (14.0, -22.7). A vehicle with ID 52 is 26.8 meters away at (6.4, 26.0).

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 43 is traveling at a (x, y) velocity of [ 7.4356027 -2.302476 ] m/s.The vehicle with ID 41 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 46 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 50 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.8) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A vehicle with ID 38 is 13.6 meters away at (9.0, 10.2). A vehicle with ID 37 is 14.1 meters away at (1.5, 14.0). A vehicle with ID 54 is 16.5 meters away at (-16.2, 2.7). A vehicle with ID 41 is 19.5 meters away at (3.3, 19.2). A vehicle with ID 43 is 21.2 meters away at (15.4, -14.5). A vehicle with ID 45 is 22.7 meters away at (-22.1, 4.8). A vehicle with ID 35 is 23.2 meters away at (15.0, -17.7). A vehicle with ID 56 is 25.7 meters away at (-11.5, -23.0). A vehicle with ID 46 is 25.9 meters away at (5.3, 25.4). A vehicle with ID 34 is 26.1 meters away at (23.5, -11.4).

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 54 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 43 is traveling at a (x, y) velocity of [10.9535   -3.967156] m/s.The vehicle with ID 45 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 (3.3, -3.4) m/s. Its current heading (yaw) is -0.81

The most relevant actors are: A vehicle with ID 35 is 15.5 meters away at (12.0, -9.8). A vehicle with ID 38 is 19.0 meters away at (6.0, 18.0). A vehicle with ID 34 is 20.7 meters away at (20.4, -3.6). A vehicle with ID 56 is 21.0 meters away at (-14.5, -15.1). A vehicle with ID 37 is 21.9 meters away at (-1.5, 21.8). A vehicle with ID 54 is 22.0 meters away at (-19.3, 10.5). A vehicle with ID 59 is 23.9 meters away at (-7.6, -22.7). A vehicle with ID 41 is 27.1 meters away at (0.3, 27.1). A vehicle with ID 45 is 28.3 meters away at (-25.4, 12.5). A vehicle with ID 62 is 31.9 meters away at (-31.5, 5.2).

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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 59 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 45 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 35 is 6.3 meters away at (4.2, -4.8). A vehicle with ID 34 is 12.6 meters away at (12.5, 1.5). A unknown object with ID 10 is 22.3 meters away at (22.3, -0.5). A vehicle with ID 38 is 23.1 meters away at (-1.9, 23.0). A vehicle with ID 59 is 23.4 meters away at (-15.4, -17.7). A unknown object with ID 25 is 24.5 meters away at (24.4, -2.2). A vehicle with ID 56 is 24.5 meters away at (-22.3, -10.2). A vehicle with ID 37 is 28.4 meters away at (-9.4, 26.8). A vehicle with ID 54 is 31.3 meters away at (-27.3, 15.3). A vehicle with ID 41 is 32.9 meters away at (-7.7, 32.0).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 59 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 56 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 54 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.4) m/s. Its current heading (yaw) is 0.79

The most relevant actors are: A unknown object with ID 9 is 20.5 meters away at (19.6, 5.9). A vehicle with ID 16 is 53.4 meters away at (38.2, -37.3). A vehicle with ID 15 is 62.7 meters away at (30.5, 54.8).

The unknown object with ID 9 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 [ 3.5215182 -1.8862048] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [19.605238  5.909051], 20.476381301879883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.4) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A vehicle with ID 15 is 52.1 meters away at (22.8, 46.9). A vehicle with ID 3 is 58.4 meters away at (22.4, 53.9). A vehicle with ID 16 is 58.5 meters away at (34.8, -47.1). A vehicle with ID 6 is 59.3 meters away at (35.5, -47.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.3871526  -0.18988498] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.28611967 -0.13526553] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 4.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 15 is 40.3 meters away at (14.5, 37.6). A vehicle with ID 3 is 46.9 meters away at (14.2, 44.7). A vehicle with ID 2 is 58.7 meters away at (14.0, 57.0).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 (2.7, 4.1) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A unknown object with ID 8 is 15.7 meters away at (-12.6, -9.4). A vehicle with ID 15 is 29.7 meters away at (7.7, 28.7). A vehicle with ID 3 is 36.4 meters away at (7.3, 35.7). A vehicle with ID 2 is 48.5 meters away at (7.1, 48.0).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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: right u-turn approaching.

(The closest actor is a unknown object at [-12.606044  -9.373014], 15.708779335021973 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 2.43

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.3). A vehicle with ID 19 is 6.1 meters away at (6.0, 0.5). A vehicle with ID 20 is 7.4 meters away at (-6.1, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.8, 7.9). A pedestrian with ID 21 is 8.5 meters away at (6.9, 5.0). A vehicle with ID 23 is 8.9 meters away at (6.8, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.6, 5.9). A vehicle with ID 25 is 10.8 meters away at (10.3, -3.2). A vehicle with ID 29 is 19.5 meters away at (-12.4, 15.0). A vehicle with ID 31 is 21.7 meters away at (-16.9, 13.5).

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 [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01135834  0.00320067] m/s.The vehicle with ID 23 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 [-0.01398084  0.0070322 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.3). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.5 meters away at (6.9, 5.0). A vehicle with ID 23 is 8.7 meters away at (6.7, -5.6). A pedestrian with ID 24 is 9.6 meters away at (7.6, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.4, 15.0). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.5).

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 [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00219905 0.00141916] m/s.The vehicle with ID 23 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 [ 0.00598651 -0.00237063] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.2). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.6 meters away at (7.0, 5.0). A vehicle with ID 23 is 8.7 meters away at (6.7, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.7, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.3, 15.0). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.6).

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 [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00548387 0.00019069] m/s.The vehicle with ID 23 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 [ 0.00029569 -0.0038182 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.2). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.2). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.5 meters away at (7.0, 5.0). A vehicle with ID 23 is 8.8 meters away at (6.7, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.7, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.3, 14.9). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.5).

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 [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00205246 -0.00099321] m/s.The vehicle with ID 23 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 [0.00104338 0.00027305] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (4.7, -1.9) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A pedestrian with ID 28 is 14.2 meters away at (-3.5, -13.7). A pedestrian with ID 29 is 19.0 meters away at (-19.0, 0.3). A pedestrian with ID 31 is 19.5 meters away at (-19.5, 1.2). A pedestrian with ID 33 is 26.2 meters away at (25.4, -6.5). A vehicle with ID 20 is 76.0 meters away at (68.2, -33.5).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00647206 -0.02078516] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00692207 -0.01033636] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00644018 -0.01111284] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0149838  -0.00824594] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [1.975204 1.878439] 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, -2.0) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 33 is 16.1 meters away at (15.9, -2.7). A pedestrian with ID 28 is 16.2 meters away at (-12.7, -10.0). A pedestrian with ID 29 is 28.5 meters away at (-28.2, 4.1). A pedestrian with ID 31 is 29.2 meters away at (-28.8, 4.9). A pedestrian with ID 1 is 35.5 meters away at (35.2, -4.7). A unknown object with ID 25 is 39.5 meters away at (32.8, -22.0). A vehicle with ID 20 is 70.9 meters away at (65.8, -26.3). A pedestrian with ID 7 is 70.9 meters away at (59.7, -38.2).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.10142671  0.02237431] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.12601636  0.04034248] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13006459 -0.00360027] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.14619622  0.01631551] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02781579  0.00130874] m/s.The unknown object with ID 25 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 [5.3391156 0.835897 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0705785  -0.04796028] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.8) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A pedestrian with ID 33 is 6.8 meters away at (6.8, 0.9). A pedestrian with ID 28 is 22.6 meters away at (-21.7, -6.2). A pedestrian with ID 1 is 26.2 meters away at (26.1, -0.9). A pedestrian with ID 31 is 38.7 meters away at (-37.8, 8.6). A pedestrian with ID 7 is 63.4 meters away at (53.1, -34.7). A pedestrian with ID 14 is 74.0 meters away at (70.9, -21.3). A vehicle with ID 20 is 75.0 meters away at (70.9, -24.3).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.04425021 0.0022077 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00508755 -0.01692413] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00609467 -0.00782152] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00319931 -0.00286751] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.2325464  -0.49552852] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00582599 -0.0122691 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 7.890112  -2.3921738] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.3) m/s. Its current heading (yaw) is -0.29

The most relevant actors are: A pedestrian with ID 33 is 4.2 meters away at (-1.7, 3.8). A pedestrian with ID 1 is 17.6 meters away at (17.5, 2.0). A pedestrian with ID 28 is 30.5 meters away at (-30.3, -3.1). A unknown object with ID 27 is 31.8 meters away at (-26.6, 17.4). A pedestrian with ID 7 is 56.8 meters away at (47.0, -31.9). A pedestrian with ID 14 is 64.9 meters away at (62.2, -18.6).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.03707421 -0.00985444] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00107164 -0.00956922] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01242194 -0.01183594] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.341538   -0.27603787] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02453136 -0.08637562] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.6) m/s. Its current heading (yaw) is -1.06

The most relevant actors are: A vehicle with ID 9 is 28.4 meters away at (-15.4, 23.8). A vehicle with ID 11 is 31.0 meters away at (0.2, 31.0). A vehicle with ID 12 is 34.1 meters away at (-17.2, 29.4). A vehicle with ID 13 is 44.9 meters away at (-20.8, 39.8). A vehicle with ID 15 is 51.5 meters away at (-8.2, 50.8). A vehicle with ID 17 is 63.9 meters away at (-15.9, 61.9). A vehicle with ID 18 is 77.1 meters away at (-31.5, 70.4).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.0) m/s. Its current heading (yaw) is -0.94

The most relevant actors are: A unknown object with ID 6 is 34.4 meters away at (-10.1, 32.9). A vehicle with ID 9 is 35.2 meters away at (-19.2, 29.5). A vehicle with ID 12 is 40.9 meters away at (-21.1, 35.1). A vehicle with ID 13 is 51.7 meters away at (-24.6, 45.4). A vehicle with ID 17 is 70.4 meters away at (-19.8, 67.6).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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 [-10.064066  32.9338  ], 34.437198638916016 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.6) m/s. Its current heading (yaw) is -1.03

The most relevant actors are: A vehicle with ID 9 is 43.3 meters away at (-23.9, 36.1). A vehicle with ID 12 is 48.9 meters away at (-25.7, 41.6). A vehicle with ID 13 is 59.7 meters away at (-29.3, 52.0).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -4.4) m/s. Its current heading (yaw) is -1.15

The most relevant actors are: A unknown object with ID 8 is 37.3 meters away at (-11.2, 35.6). A vehicle with ID 9 is 52.3 meters away at (-28.1, 44.1). A vehicle with ID 7 is 53.1 meters away at (-9.6, 52.2). A vehicle with ID 12 is 57.9 meters away at (-29.9, 49.6). A vehicle with ID 13 is 68.7 meters away at (-33.6, 60.0). A vehicle with ID 1 is 76.9 meters away at (29.4, -71.0).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-11.172082  35.61628 ], 37.32740020751953 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -1.6) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A vehicle with ID 11 is 20.7 meters away at (-1.4, 20.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [1.7021737 8.125086 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.3) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A vehicle with ID 11 is 42.2 meters away at (-4.5, 42.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0.14003488 8.243564  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -0.4) m/s. Its current heading (yaw) is -0.07

The most relevant actors are: A vehicle with ID 11 is 62.7 meters away at (-16.7, 60.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.6973608  8.224676 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -0.6) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A unknown object with ID 10 is 36.3 meters away at (-35.3, -8.6). A unknown object with ID 9 is 62.6 meters away at (62.4, -4.2). A unknown object with ID 4 is 63.5 meters away at (63.3, -5.4). A unknown object with ID 2 is 65.4 meters away at (-63.4, -16.2).

The unknown object with ID 10 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 4 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 closest actor is a unknown object at [-35.307274   -8.6183195], 36.34389877319336 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.5) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (7.0, 10.3). A cyclist with ID 15 is 28.7 meters away at (-3.9, -28.4). A unknown object with ID 13 is 32.1 meters away at (32.1, -0.4). A unknown object with ID 10 is 34.3 meters away at (-2.0, -34.3). A vehicle with ID 19 is 36.8 meters away at (-7.0, -36.1). A vehicle with ID 22 is 39.2 meters away at (7.4, -38.5). A vehicle with ID 23 is 39.7 meters away at (39.6, -2.4). A vehicle with ID 25 is 42.2 meters away at (42.0, -4.0). A vehicle with ID 16 is 46.5 meters away at (45.6, -9.0). A vehicle with ID 27 is 55.5 meters away at (-9.9, -54.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.9959316  4.6934314] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-2.3631558  1.3250209] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 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. 0.] m/s.The vehicle with ID 25 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 [-0.16356064 -1.6686629 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.4) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A cyclist with ID 15 is 22.2 meters away at (-5.0, -21.6). A vehicle with ID 11 is 26.2 meters away at (-7.1, 25.2). A unknown object with ID 10 is 29.3 meters away at (1.1, -29.3). A vehicle with ID 19 is 31.5 meters away at (-3.9, -31.2). A vehicle with ID 22 is 35.2 meters away at (10.5, -33.6). A unknown object with ID 4 is 36.6 meters away at (36.5, 3.3). A vehicle with ID 23 is 42.8 meters away at (42.7, 2.7). A vehicle with ID 25 is 45.1 meters away at (45.1, 1.1). A vehicle with ID 16 is 49.1 meters away at (48.6, -6.8). A vehicle with ID 27 is 50.3 meters away at (-6.9, -49.8).

The cyclist with ID 15 is traveling at a (x, y) velocity of [-2.5293446  -0.09871572] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.96759   5.045999] m/s.The unknown object with ID 10 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 16 is traveling at a (x, y) velocity of [ 0.24661906 -1.6717877 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A cyclist with ID 15 is 26.6 meters away at (-9.2, -24.9). A unknown object with ID 10 is 28.8 meters away at (1.4, -28.7). A vehicle with ID 19 is 30.8 meters away at (-3.6, -30.6). A vehicle with ID 22 is 34.7 meters away at (10.9, -32.9). A unknown object with ID 3 is 34.8 meters away at (0.3, -34.8). A unknown object with ID 4 is 37.0 meters away at (36.8, 3.8). A unknown object with ID 7 is 38.8 meters away at (38.8, 1.3). A vehicle with ID 23 is 43.2 meters away at (43.0, 3.4). A vehicle with ID 11 is 43.3 meters away at (-24.5, 35.8). A vehicle with ID 25 is 45.6 meters away at (45.5, 1.7).

The cyclist with ID 15 is traveling at a (x, y) velocity of [-1.6063159 -2.8628175] m/s.The unknown object with ID 10 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 23 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 [-8.662984   4.7782283] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A unknown object with ID 10 is 28.7 meters away at (1.5, -28.7). A vehicle with ID 19 is 30.8 meters away at (-3.5, -30.6). A cyclist with ID 15 is 33.4 meters away at (-12.2, -31.1). A vehicle with ID 22 is 34.6 meters away at (10.9, -32.9). A unknown object with ID 4 is 37.0 meters away at (36.8, 3.9). A unknown object with ID 7 is 38.9 meters away at (38.9, 1.4). A vehicle with ID 23 is 43.2 meters away at (43.1, 3.5). A vehicle with ID 25 is 45.5 meters away at (45.5, 1.7). A vehicle with ID 27 is 49.4 meters away at (-6.4, -49.0). A vehicle with ID 6 is 53.7 meters away at (-10.6, -52.6).

The unknown object with ID 10 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 cyclist with ID 15 is traveling at a (x, y) velocity of [-1.2643708 -3.3554995] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 [  1.4661932 -28.663279 ], 28.700754165649414 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.5) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A unknown object with ID 55 is 4.6 meters away at (-2.1, -4.1). A unknown object with ID 54 is 7.2 meters away at (-7.2, 0.6). A unknown object with ID 49 is 12.5 meters away at (10.9, -6.1). A unknown object with ID 60 is 17.7 meters away at (10.9, -13.9). A pedestrian with ID 37 is 23.4 meters away at (23.1, -3.5). A vehicle with ID 53 is 24.9 meters away at (-20.8, 13.7). A unknown object with ID 47 is 25.2 meters away at (20.7, -14.4). A unknown object with ID 65 is 29.8 meters away at (19.9, -22.2). A vehicle with ID 56 is 32.3 meters away at (-27.0, 17.8). A unknown object with ID 48 is 36.8 meters away at (29.6, -21.9).

The unknown object with ID 55 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.01829869 0.0074093 ] m/s.The vehicle with ID 53 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.1129904 -4.0641804], 4.580643177032471 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.5) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 60 is 3.3 meters away at (-1.5, -2.9). A unknown object with ID 49 is 5.1 meters away at (-1.5, 4.9). A unknown object with ID 47 is 8.9 meters away at (8.2, -3.4). A unknown object with ID 65 is 13.4 meters away at (7.4, -11.2). A unknown object with ID 55 is 16.1 meters away at (-14.5, 6.9). A unknown object with ID 48 is 20.3 meters away at (17.1, -11.0). A unknown object with ID 50 is 20.5 meters away at (13.4, -15.5). A pedestrian with ID 39 is 25.8 meters away at (-9.0, 24.2). A unknown object with ID 2 is 32.3 meters away at (22.4, -23.2). A unknown object with ID 67 is 35.8 meters away at (29.0, -21.1).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.03358045 -0.01201584] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (5.8, -4.9) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A unknown object with ID 65 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 48 is 5.2 meters away at (5.1, -0.7). A unknown object with ID 50 is 5.5 meters away at (1.4, -5.3). A unknown object with ID 47 is 7.8 meters away at (-3.7, 6.8). A vehicle with ID 5 is 11.3 meters away at (11.2, -1.1). A unknown object with ID 60 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 2 is 16.7 meters away at (10.5, -13.0). A unknown object with ID 49 is 20.3 meters away at (-13.4, 15.2). A unknown object with ID 52 is 28.0 meters away at (23.3, -15.6). A vehicle with ID 4 is 36.8 meters away at (11.6, -34.9).

The unknown object with ID 65 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.4848022 -0.9581661], 4.586015224456787 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.7) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A unknown object with ID 2 is 4.2 meters away at (0.1, -4.2). A unknown object with ID 1 is 6.9 meters away at (6.6, -2.1). A vehicle with ID 5 is 7.7 meters away at (0.5, 7.6). A unknown object with ID 48 is 9.6 meters away at (-5.3, 8.0). A unknown object with ID 50 is 9.6 meters away at (-9.0, 3.5). A unknown object with ID 52 is 14.5 meters away at (12.8, -6.8). A unknown object with ID 65 is 16.9 meters away at (-14.9, 7.8). A unknown object with ID 47 is 21.0 meters away at (-14.1, 15.6). A vehicle with ID 4 is 26.1 meters away at (1.2, -26.1). A pedestrian with ID 34 is 26.9 meters away at (-9.9, 25.0).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.17109662 -0.12054946] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.0510025 -4.1835976], 4.183908462524414 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 1.12

The most relevant actors are: A vehicle with ID 45 is 22.6 meters away at (-9.8, -20.4). A unknown object with ID 42 is 26.7 meters away at (-4.2, 26.4). A unknown object with ID 43 is 27.3 meters away at (-2.3, 27.2). A unknown object with ID 44 is 27.4 meters away at (1.1, 27.4). A vehicle with ID 48 is 29.5 meters away at (10.7, 27.4). A cyclist with ID 49 is 30.3 meters away at (8.2, 29.2). A pedestrian with ID 46 is 31.0 meters away at (-22.0, -21.8). A vehicle with ID 47 is 36.2 meters away at (-20.2, 30.1). A unknown object with ID 50 is 39.0 meters away at (-24.4, 30.4). A unknown object with ID 51 is 40.2 meters away at (-25.0, 31.5).

The vehicle with ID 45 is traveling at a (x, y) velocity of [1.3317267 2.7898057] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 [-1.6112111 -2.706333 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.7899718 -3.3097532] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.50818515 -0.9692783 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.5) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 48 is 18.9 meters away at (4.9, 18.2). A vehicle with ID 45 is 19.6 meters away at (-8.9, -17.5). A cyclist with ID 49 is 20.1 meters away at (2.3, 20.0). A unknown object with ID 42 is 24.3 meters away at (-6.3, 23.4). A unknown object with ID 44 is 24.5 meters away at (-0.8, 24.4). A unknown object with ID 43 is 24.7 meters away at (-4.4, 24.3). A vehicle with ID 47 is 35.1 meters away at (-22.3, 27.0). A unknown object with ID 51 is 39.4 meters away at (-27.2, 28.4). A unknown object with ID 22 is 39.8 meters away at (-27.0, 29.3). A vehicle with ID 54 is 42.5 meters away at (16.3, 39.2).

The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.64026  -4.702936] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.6600695 3.3183258] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1343699 -3.032467 ] 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 [-2.786692 -4.606292] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 0.5) m/s. Its current heading (yaw) is 0.10

The most relevant actors are: A vehicle with ID 48 is 9.8 meters away at (-9.7, 1.4). A cyclist with ID 49 is 13.1 meters away at (-9.6, 9.0). A vehicle with ID 45 is 18.2 meters away at (-12.5, -13.2). A unknown object with ID 44 is 22.2 meters away at (-8.5, 20.5). A unknown object with ID 43 is 23.5 meters away at (-12.1, 20.2). A unknown object with ID 42 is 23.9 meters away at (-14.0, 19.4). A vehicle with ID 54 is 25.3 meters away at (2.7, 25.1). A vehicle with ID 23 is 36.1 meters away at (-20.3, -29.8). A vehicle with ID 47 is 37.9 meters away at (-30.1, 23.0). A vehicle with ID 18 is 42.5 meters away at (12.3, 40.7).

The vehicle with ID 48 is traveling at a (x, y) velocity of [-3.926745 -7.534487] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1498141 -3.610872 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [2.542575  5.1386747] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 [-3.4628918 -6.149341 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.591124 3.80762 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.8428936 -4.8726807] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.8) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 45 is 18.5 meters away at (-18.5, 1.2). A pedestrian with ID 17 is 21.3 meters away at (-16.5, -13.6). A vehicle with ID 54 is 21.6 meters away at (-16.7, 13.7). A unknown object with ID 34 is 22.4 meters away at (18.9, -12.1). A unknown object with ID 27 is 23.9 meters away at (20.3, -12.7). A cyclist with ID 49 is 25.3 meters away at (-24.8, 4.9). A unknown object with ID 30 is 28.1 meters away at (24.1, -14.5). A unknown object with ID 44 is 30.9 meters away at (-20.0, 23.5). A vehicle with ID 23 is 32.4 meters away at (-27.8, -16.7). A pedestrian with ID 53 is 32.8 meters away at (32.8, -1.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [3.487342  6.5184817] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.6107512 1.5696698] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.095175 -8.015667] m/s.The unknown object with ID 34 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 cyclist with ID 49 is traveling at a (x, y) velocity of [-1.767969 -3.44054 ] 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.775654  6.1240497] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.60482997 0.4442798 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.1) m/s. Its current heading (yaw) is -0.44

The most relevant actors are: A vehicle with ID 44 is 10.1 meters away at (10.1, 0.2). A vehicle with ID 33 is 21.5 meters away at (3.6, -21.2). A vehicle with ID 9 is 21.6 meters away at (3.5, 21.3). A vehicle with ID 45 is 23.3 meters away at (1.4, -23.3). A unknown object with ID 41 is 23.5 meters away at (-23.1, -4.2). A vehicle with ID 36 is 24.1 meters away at (-13.1, 20.2). A vehicle with ID 42 is 24.2 meters away at (-20.3, 13.1). A vehicle with ID 43 is 25.9 meters away at (-19.6, 16.9). A vehicle with ID 54 is 26.6 meters away at (23.8, -11.8). A vehicle with ID 47 is 29.7 meters away at (15.1, 25.6).

The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.9926428  1.5998425] m/s.The vehicle with ID 33 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 [-2.8085134 -4.4077854] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.4130738  4.527182 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-3.3152418  2.707642 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.1593356 1.3526378] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.5) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 54 is 8.0 meters away at (8.0, 0.3). A vehicle with ID 44 is 9.2 meters away at (-1.9, 9.0). A vehicle with ID 33 is 15.5 meters away at (-6.1, -14.3). A vehicle with ID 45 is 18.3 meters away at (-8.3, -16.3). A vehicle with ID 9 is 20.9 meters away at (-10.3, 18.2). A vehicle with ID 64 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 26 is 28.4 meters away at (1.1, -28.4). A vehicle with ID 30 is 31.9 meters away at (-2.4, -31.8). A vehicle with ID 55 is 32.0 meters away at (-5.0, 31.6). A unknown object with ID 41 is 33.1 meters away at (-33.0, 2.9).

The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.5003834  2.1503413] m/s.The vehicle with ID 44 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.59413046 -6.2651086 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-4.0208178  3.4989364] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.6563098 -3.6852229] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.8) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 64 is 6.3 meters away at (4.7, 4.2). A vehicle with ID 54 is 15.0 meters away at (-6.9, 13.4). A vehicle with ID 33 is 18.4 meters away at (-18.0, -3.9). A vehicle with ID 26 is 21.0 meters away at (-10.9, -17.9). A vehicle with ID 45 is 21.1 meters away at (-20.3, -5.9). A vehicle with ID 22 is 23.7 meters away at (-22.3, -8.0). A vehicle with ID 44 is 24.1 meters away at (-14.0, 19.6). A vehicle with ID 9 is 24.1 meters away at (-18.9, 15.1). A vehicle with ID 30 is 25.8 meters away at (-14.4, -21.4). A vehicle with ID 32 is 28.4 meters away at (-25.5, -12.5).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-2.2137663  1.9885598] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.2375601   0.21896362] m/s.The vehicle with ID 33 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 [ 4.2852225 -7.092274 ] m/s.The vehicle with ID 30 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.9) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 64 is 23.6 meters away at (-13.0, 19.6). A vehicle with ID 9 is 25.0 meters away at (-20.8, 13.8). A vehicle with ID 26 is 26.1 meters away at (-25.6, -5.2). A vehicle with ID 39 is 26.7 meters away at (25.5, -7.9). A vehicle with ID 30 is 30.3 meters away at (-29.1, -8.6). A vehicle with ID 18 is 32.6 meters away at (-30.6, -11.3). A vehicle with ID 33 is 33.9 meters away at (-32.7, 8.8). A vehicle with ID 54 is 34.0 meters away at (-21.8, 26.1). A vehicle with ID 10 is 35.2 meters away at (28.6, -20.5). A vehicle with ID 45 is 35.7 meters away at (-35.0, 6.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.62768906  0.5362459 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.897365 -6.999583] m/s.The vehicle with ID 26 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 10 is traveling at a (x, y) velocity of [ 2.7304406 -2.3442879] m/s.The vehicle with ID 45 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 -2.28

The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A pedestrian with ID 18 is 9.7 meters away at (3.7, -8.9). A pedestrian with ID 19 is 9.8 meters away at (2.7, -9.4). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A pedestrian with ID 12 is 15.6 meters away at (11.4, -10.7). A vehicle with ID 51 is 16.6 meters away at (-6.6, -15.3). A vehicle with ID 50 is 24.8 meters away at (-23.4, -8.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.3, 23.0).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0562505   0.13500424] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.101671    0.25271234] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.8306593 -0.0803606] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-7.756901   3.6241276] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-8.853189   3.2098763] m/s.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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 18 is 8.3 meters away at (1.6, -8.1). A pedestrian with ID 19 is 8.7 meters away at (0.7, -8.6). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 58 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 51 is 24.2 meters away at (-22.4, -9.1). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.3, 23.0). A vehicle with ID 23 is 32.1 meters away at (14.9, -28.4).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0712124   0.49990824] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0433942   0.34003562] m/s.The vehicle with ID 15 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 58 is traveling at a (x, y) velocity of [-7.1663814  3.8795264] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.033895   2.7845416] m/s.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 23 is traveling at a (x, y) velocity of [-7.865677   6.5374894] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A pedestrian with ID 18 is 7.2 meters away at (-0.5, -7.1). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.3 meters away at (-1.4, -8.1). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 17.3 meters away at (-0.5, -17.3). A vehicle with ID 58 is 19.8 meters away at (-16.6, -10.9). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.4, 23.1). A vehicle with ID 41 is 32.3 meters away at (18.6, -26.4).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0577968   0.51498747] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.107154   0.3324281] m/s.The vehicle with ID 15 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 23 is traveling at a (x, y) velocity of [-7.398509   4.1204524] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.4878893  2.4550395] m/s.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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A pedestrian with ID 18 is 6.6 meters away at (-2.7, -6.0). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.1 meters away at (-3.5, -7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 18.1 meters away at (-14.0, -11.5). A vehicle with ID 20 is 24.5 meters away at (7.3, -23.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.4, 23.0). A vehicle with ID 58 is 29.4 meters away at (-28.7, -6.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.177208    0.49959984] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.056869   0.4850633] m/s.The vehicle with ID 15 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 23 is traveling at a (x, y) velocity of [-6.3104978  2.3327367] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.1658483  4.255794 ] m/s.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 58 is traveling at a (x, y) velocity of [-5.193434   1.7730246] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.1) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 23 is 25.3 meters away at (-11.6, -22.4). A vehicle with ID 22 is 26.7 meters away at (-15.0, -22.1). A vehicle with ID 21 is 32.3 meters away at (-14.7, 28.8). A vehicle with ID 25 is 33.7 meters away at (-26.8, -20.4). A unknown object with ID 28 is 35.6 meters away at (15.8, 31.9). A unknown object with ID 29 is 36.8 meters away at (25.9, 26.1). A unknown object with ID 30 is 37.9 meters away at (25.8, 27.7). A vehicle with ID 20 is 40.9 meters away at (-25.1, 32.3). A vehicle with ID 10 is 42.3 meters away at (42.2, -2.0). A vehicle with ID 31 is 42.4 meters away at (41.5, 9.1).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.8801062 1.0201837] m/s.The vehicle with ID 22 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 25 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 unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 (0.6, 0.7) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A pedestrian with ID 23 is 25.9 meters away at (-12.0, -23.0). A vehicle with ID 22 is 30.1 meters away at (-17.3, -24.7). A vehicle with ID 21 is 31.1 meters away at (-16.9, 26.1). A unknown object with ID 28 is 32.3 meters away at (13.6, 29.3). A unknown object with ID 29 is 33.4 meters away at (23.7, 23.5). A unknown object with ID 30 is 34.4 meters away at (23.6, 25.1). A vehicle with ID 18 is 36.6 meters away at (-21.5, -29.6). A vehicle with ID 25 is 37.1 meters away at (-29.1, -23.1). A unknown object with ID 7 is 37.7 meters away at (28.0, 25.3). A vehicle with ID 1 is 38.5 meters away at (-32.3, 20.9).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.96385384 1.0396892 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 1 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 (0.9, 2.6) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A pedestrian with ID 23 is 26.5 meters away at (-11.8, -23.8). A unknown object with ID 28 is 29.1 meters away at (12.1, 26.4). A vehicle with ID 21 is 29.8 meters away at (-18.4, 23.5). A unknown object with ID 29 is 30.2 meters away at (22.2, 20.5). A unknown object with ID 30 is 31.3 meters away at (22.1, 22.1). A vehicle with ID 22 is 33.4 meters away at (-19.1, -27.3). A vehicle with ID 5 is 37.9 meters away at (37.8, 3.2). A vehicle with ID 1 is 38.6 meters away at (-33.9, 18.4). A vehicle with ID 10 is 39.1 meters away at (38.3, -7.6). A vehicle with ID 20 is 39.5 meters away at (-28.7, 27.1).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.9323562 0.8917673] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 (-2.2, 4.5) m/s. Its current heading (yaw) is 2.03

The most relevant actors are: A unknown object with ID 28 is 22.6 meters away at (12.6, 18.7). A vehicle with ID 21 is 23.9 meters away at (-18.0, 15.8). A pedestrian with ID 23 is 30.9 meters away at (-9.4, -29.5). A vehicle with ID 20 is 34.3 meters away at (-28.3, 19.5). A vehicle with ID 1 is 35.1 meters away at (-33.5, 10.7). A vehicle with ID 33 is 36.8 meters away at (23.0, 28.7). A vehicle with ID 5 is 38.4 meters away at (38.2, -4.5). A vehicle with ID 22 is 39.7 meters away at (-18.6, -35.0). A vehicle with ID 10 is 41.8 meters away at (38.9, -15.3). A vehicle with ID 25 is 45.0 meters away at (-30.4, -33.3).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1166182 1.0176777] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [12.602041 18.736351], 22.58013153076172 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -4.2) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A vehicle with ID 88 is 13.1 meters away at (12.9, -1.9). A vehicle with ID 98 is 13.1 meters away at (8.1, 10.3). A vehicle with ID 86 is 15.6 meters away at (15.4, -2.2). A vehicle with ID 104 is 16.9 meters away at (13.9, 9.6). A pedestrian with ID 102 is 17.2 meters away at (10.6, 13.4). A vehicle with ID 90 is 18.5 meters away at (15.9, -9.4). A pedestrian with ID 63 is 18.7 meters away at (12.9, 13.5). A vehicle with ID 106 is 18.9 meters away at (16.5, 9.2). A pedestrian with ID 92 is 20.0 meters away at (14.2, 14.1). A vehicle with ID 89 is 20.3 meters away at (18.2, -8.9).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.01079105 -0.0288444 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 0.0081305 -0.0155644] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.5) m/s. Its current heading (yaw) is -1.31

The most relevant actors are: A vehicle with ID 88 is 12.3 meters away at (11.5, 4.4). A vehicle with ID 86 is 14.6 meters away at (14.0, 4.0). A vehicle with ID 90 is 14.8 meters away at (14.5, -3.2). A vehicle with ID 89 is 17.0 meters away at (16.8, -2.6). A vehicle with ID 98 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 57 is 19.1 meters away at (18.7, 3.7). A vehicle with ID 104 is 20.2 meters away at (12.5, 15.9). A vehicle with ID 106 is 21.6 meters away at (15.0, 15.5). A pedestrian with ID 102 is 21.8 meters away at (9.2, 19.7). A vehicle with ID 58 is 21.8 meters away at (21.5, 3.8).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.02921306  0.04614693] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -2.1) m/s. Its current heading (yaw) is -0.96

The most relevant actors are: A vehicle with ID 90 is 12.7 meters away at (12.6, 1.5). A vehicle with ID 88 is 13.2 meters away at (9.5, 9.1). A vehicle with ID 86 is 14.9 meters away at (12.1, 8.8). A vehicle with ID 89 is 15.0 meters away at (14.9, 2.1). A vehicle with ID 57 is 18.7 meters away at (16.8, 8.2). A vehicle with ID 58 is 21.5 meters away at (19.6, 8.6). A vehicle with ID 98 is 21.9 meters away at (4.9, 21.3). A vehicle with ID 104 is 23.2 meters away at (10.6, 20.6). A vehicle with ID 101 is 23.3 meters away at (19.3, -13.0). A vehicle with ID 28 is 23.4 meters away at (21.8, 8.4).

The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.9) m/s. Its current heading (yaw) is -0.23

The most relevant actors are: A vehicle with ID 90 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 89 is 11.4 meters away at (9.9, 5.7). A vehicle with ID 88 is 13.4 meters away at (4.6, 12.6). A vehicle with ID 86 is 14.2 meters away at (7.1, 12.3). A vehicle with ID 57 is 16.8 meters away at (11.9, 11.9). A vehicle with ID 101 is 17.2 meters away at (14.3, -9.4). A vehicle with ID 58 is 19.0 meters away at (14.6, 12.1). A vehicle with ID 100 is 19.0 meters away at (16.8, -9.0). A vehicle with ID 28 is 20.6 meters away at (16.9, 11.8). A pedestrian with ID 112 is 21.3 meters away at (16.6, -13.4).

The vehicle with ID 90 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 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 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 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.67381215 -1.0559591 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 3.4) m/s. Its current heading (yaw) is 1.88

The most relevant actors are: A vehicle with ID 7 is 19.3 meters away at (7.9, 17.6). A vehicle with ID 6 is 19.9 meters away at (7.4, -18.4).

The vehicle with ID 7 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 [-2.469969   6.0008526] 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, 2.9) m/s. Its current heading (yaw) is 1.78

The most relevant actors are: A vehicle with ID 6 is 13.6 meters away at (4.6, -12.8). A vehicle with ID 7 is 15.1 meters away at (9.5, 11.7).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.9453002  5.290415 ] m/s.The vehicle with ID 7 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 (-0.1, 4.5) m/s. Its current heading (yaw) is 1.59

The most relevant actors are: A vehicle with ID 6 is 11.0 meters away at (2.1, -10.8). A vehicle with ID 7 is 11.2 meters away at (10.4, 4.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.1352243  4.246447 ] m/s.The vehicle with ID 7 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 (-0.3, 5.0) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A vehicle with ID 7 is 12.1 meters away at (10.7, -5.5). A vehicle with ID 6 is 13.5 meters away at (2.7, -13.3). A unknown object with ID 2 is 49.6 meters away at (16.0, -46.9).

The vehicle with ID 7 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 [1.5063467 2.917092 ] 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