The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 3.5) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A cyclist with ID 79 is 12.4 meters away at (-10.7, 6.4). A pedestrian with ID 83 is 14.7 meters away at (-7.0, 12.9). A unknown object with ID 82 is 15.0 meters away at (-11.4, 9.7). A vehicle with ID 91 is 18.8 meters away at (-16.4, -9.3). A unknown object with ID 84 is 19.5 meters away at (-15.5, 11.9). A vehicle with ID 86 is 22.2 meters away at (14.2, 17.0). A vehicle with ID 80 is 23.5 meters away at (-22.6, 6.6). A pedestrian with ID 85 is 27.6 meters away at (-13.1, -24.3). A vehicle with ID 92 is 30.3 meters away at (-30.0, -4.3). A pedestrian with ID 90 is 31.5 meters away at (-15.8, -27.3).

The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.0507226  2.567261 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.26285583 -0.74779934] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.52956   -4.5875487] m/s.The unknown object with ID 84 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 80 is traveling at a (x, y) velocity of [-9.919358   7.4542947] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.10370236 -0.03204589] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.15545647 0.7644757 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 5.0) m/s. Its current heading (yaw) is 1.04

The most relevant actors are: A pedestrian with ID 83 is 11.5 meters away at (-11.0, 3.1). A vehicle with ID 86 is 12.9 meters away at (9.8, 8.4). A unknown object with ID 82 is 16.1 meters away at (-16.0, 1.9). A unknown object with ID 84 is 20.4 meters away at (-20.0, 4.0). A vehicle with ID 24 is 23.5 meters away at (14.7, 18.4). A pedestrian with ID 50 is 24.1 meters away at (-2.1, 24.0). A cyclist with ID 79 is 24.2 meters away at (-23.7, 4.8). A vehicle with ID 91 is 28.2 meters away at (-8.1, -27.0). A vehicle with ID 92 is 36.7 meters away at (-34.7, -12.0). A pedestrian with ID 85 is 37.1 meters away at (-18.3, -32.2).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.13759297 -0.7671048 ] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.09244613 -0.03351555] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-3.7932987  3.4660814] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.963271  -5.1379375] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.04030086  0.0468455 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 7.4) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 86 is 4.9 meters away at (2.6, -4.2). A vehicle with ID 24 is 9.6 meters away at (7.7, 5.8). A pedestrian with ID 83 is 21.0 meters away at (-17.8, -11.1). A unknown object with ID 82 is 25.6 meters away at (-23.2, -10.7). A unknown object with ID 84 is 28.6 meters away at (-27.3, -8.5). A vehicle with ID 44 is 32.4 meters away at (10.3, 30.7). A vehicle with ID 78 is 33.0 meters away at (19.3, 26.8). A cyclist with ID 79 is 39.8 meters away at (-39.8, -1.2). A unknown object with ID 60 is 45.1 meters away at (16.1, -42.1). A vehicle with ID 92 is 48.6 meters away at (-41.9, -24.6).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.01122544 -0.63113695] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 [-4.7128906 -7.5375423] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.2800922  3.4180658] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 8.6) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 44 is 7.4 meters away at (-7.4, -0.8). A vehicle with ID 24 is 10.3 meters away at (-1.1, -10.3). A vehicle with ID 78 is 15.2 meters away at (10.7, 10.8). A vehicle with ID 73 is 21.1 meters away at (-6.3, -20.2). A vehicle with ID 38 is 29.4 meters away at (11.0, 27.2). A pedestrian with ID 11 is 36.6 meters away at (7.3, 35.9). A pedestrian with ID 9 is 38.8 meters away at (9.2, 37.7). A pedestrian with ID 83 is 39.2 meters away at (-27.8, -27.6). A vehicle with ID 23 is 41.2 meters away at (20.0, 36.0). A unknown object with ID 82 is 41.8 meters away at (-32.0, -26.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [-4.1169906 -7.3487287] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 [-3.6311004 -6.8775597] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.62038565 -1.164922  ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.6454239 -1.0886956] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.8945442  0.5758531] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.0063012 5.1380124] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.6) m/s. Its current heading (yaw) is 2.02

The most relevant actors are: A unknown object with ID 2 is 33.1 meters away at (23.9, -23.0). A vehicle with ID 13 is 39.3 meters away at (21.9, -32.6). A vehicle with ID 9 is 47.4 meters away at (27.5, -38.7). A pedestrian with ID 8 is 47.6 meters away at (32.0, -35.2). A vehicle with ID 12 is 64.8 meters away at (43.6, -48.0).

The unknown object with ID 2 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.6287359 -0.6666522] m/s.The vehicle with ID 12 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 [ 23.859743 -23.008368], 33.1462287902832 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 2.7) m/s. Its current heading (yaw) is 2.17

The most relevant actors are: A unknown object with ID 3 is 25.2 meters away at (-8.3, 23.8). A vehicle with ID 13 is 46.6 meters away at (25.6, -38.9). A vehicle with ID 9 is 54.7 meters away at (31.2, -44.9). A pedestrian with ID 8 is 56.8 meters away at (37.1, -43.0). A vehicle with ID 12 is 71.9 meters away at (47.2, -54.3).

The unknown object with ID 3 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.7124797 -0.6877716] m/s.The vehicle with ID 12 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 [-8.3395195 23.783203 ], 25.202943801879883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.5) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 13 is 52.5 meters away at (29.6, -43.4). A vehicle with ID 9 is 60.8 meters away at (35.3, -49.5). A pedestrian with ID 8 is 64.9 meters away at (42.3, -49.1). A vehicle with ID 12 is 77.9 meters away at (51.2, -58.8).

The vehicle with ID 13 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 pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.65512717 -0.86884046] 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 (-2.3, 0.5) m/s. Its current heading (yaw) is 2.93

The most relevant actors are: A vehicle with ID 13 is 56.8 meters away at (34.5, -45.2). A vehicle with ID 9 is 65.2 meters away at (40.1, -51.3). A pedestrian with ID 8 is 71.6 meters away at (48.4, -52.8). A vehicle with ID 12 is 82.6 meters away at (56.1, -60.5).

The vehicle with ID 13 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 pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.80186576 -0.76912314] 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 (6.1, -5.2) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 49 is 7.8 meters away at (7.3, 2.7). A pedestrian with ID 51 is 9.1 meters away at (9.1, 0.6). A vehicle with ID 48 is 21.5 meters away at (-13.8, 16.5). A vehicle with ID 53 is 30.0 meters away at (-25.9, -15.1). A vehicle with ID 23 is 31.8 meters away at (-11.6, 29.7). A vehicle with ID 44 is 33.4 meters away at (-9.7, 31.9). A vehicle with ID 57 is 36.5 meters away at (-3.5, -36.3). A unknown object with ID 54 is 47.0 meters away at (-31.5, 34.9). A unknown object with ID 55 is 48.8 meters away at (-32.9, 36.1). A vehicle with ID 9 is 65.6 meters away at (1.6, -65.6).

The vehicle with ID 49 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 [0.7101568  0.31407022] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.9224095  6.0225964] m/s.The vehicle with ID 53 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 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 vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A pedestrian with ID 51 is 10.0 meters away at (-1.3, 9.9). A vehicle with ID 49 is 12.3 meters away at (-3.5, 11.8). A vehicle with ID 57 is 30.9 meters away at (-14.6, -27.3). A vehicle with ID 23 is 44.9 meters away at (-22.5, 38.8). A vehicle with ID 48 is 54.9 meters away at (-39.4, 38.2). A unknown object with ID 54 is 61.1 meters away at (-42.3, 44.1). A unknown object with ID 55 is 62.9 meters away at (-43.8, 45.2). A vehicle with ID 52 is 77.9 meters away at (-59.4, 50.5).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.1576978  -0.11328094] m/s.The vehicle with ID 49 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 23 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 [-7.710572  6.610237] 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.672144 -5.837334] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.7) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A pedestrian with ID 51 is 17.4 meters away at (-7.9, 15.5). A pedestrian with ID 8 is 19.6 meters away at (-8.4, 17.7). A vehicle with ID 49 is 20.2 meters away at (-10.3, 17.4). A vehicle with ID 57 is 30.4 meters away at (-21.4, -21.6). A vehicle with ID 23 is 53.4 meters away at (-29.4, 44.6). A vehicle with ID 52 is 68.9 meters away at (-52.6, 44.5). A vehicle with ID 25 is 69.3 meters away at (-52.8, 44.8). A unknown object with ID 54 is 69.9 meters away at (-49.0, 49.8). A unknown object with ID 55 is 71.6 meters away at (-50.4, 50.9). A vehicle with ID 26 is 75.6 meters away at (73.6, -17.3).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0270409  -0.01698466] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.01247595 -0.00020806] m/s.The vehicle with ID 49 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 23 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 [ 6.6483235 -5.850379 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.6665664 -5.8708596] 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 55 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A pedestrian with ID 51 is 19.7 meters away at (-9.6, 17.1). A pedestrian with ID 8 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 49 is 22.0 meters away at (-11.8, 18.6). A vehicle with ID 52 is 53.5 meters away at (-41.0, 34.4). A vehicle with ID 25 is 54.0 meters away at (-41.4, 34.7). A pedestrian with ID 35 is 65.4 meters away at (-31.9, -57.1). A vehicle with ID 32 is 67.4 meters away at (-29.2, -60.7). A vehicle with ID 26 is 73.8 meters away at (72.0, -16.0). A vehicle with ID 1 is 76.1 meters away at (67.8, -34.6). A vehicle with ID 19 is 78.3 meters away at (72.5, -29.4).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.19251394  0.36205095] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.12767796  0.00272119] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.467214  -5.5172834] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.5131607 -5.5496974] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.8026433 0.9788231] m/s.The vehicle with ID 32 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 1 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.2) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A pedestrian with ID 34 is 6.6 meters away at (6.2, 2.3). A pedestrian with ID 32 is 7.1 meters away at (6.2, 3.5). A pedestrian with ID 33 is 7.3 meters away at (6.7, 3.0). A vehicle with ID 55 is 19.6 meters away at (-18.3, -6.9). A cyclist with ID 35 is 20.6 meters away at (-17.3, 11.2). A pedestrian with ID 37 is 24.0 meters away at (-2.6, 23.8). A pedestrian with ID 36 is 26.7 meters away at (9.4, 25.0). A vehicle with ID 39 is 28.0 meters away at (-26.4, 9.4). A vehicle with ID 38 is 28.9 meters away at (25.6, 13.4). A unknown object with ID 40 is 31.2 meters away at (0.2, 31.2).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7504119  -0.22126758] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.61825526 -0.23788229] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6803408 -0.2603572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0.91826487 1.460054  ] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.8725586 -0.5082339] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00209917  0.00415112] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.78826237 -0.02175873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.967905  -0.3973816] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [6.196024 2.301835], 6.609777450561523 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.7) m/s. Its current heading (yaw) is -2.09

The most relevant actors are: A vehicle with ID 55 is 12.8 meters away at (-8.7, 9.3). A pedestrian with ID 34 is 22.1 meters away at (14.1, 17.0). A pedestrian with ID 33 is 23.1 meters away at (14.9, 17.7). A pedestrian with ID 32 is 24.0 meters away at (15.1, 18.6). A cyclist with ID 35 is 35.0 meters away at (-23.7, 25.7). A pedestrian with ID 37 is 39.4 meters away at (6.4, 38.9). A vehicle with ID 39 is 43.2 meters away at (-35.5, 24.6). A vehicle with ID 38 is 44.8 meters away at (34.6, 28.4). A pedestrian with ID 36 is 45.6 meters away at (20.7, 40.6). A unknown object with ID 18 is 49.9 meters away at (-46.2, 18.9).

The vehicle with ID 55 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 [-0.14301553 -0.07498743] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.1725562  -0.08827829] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.06558649  0.00909447] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.7167716  -0.27711964] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01068114  0.01329342] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.05408    0.1309416] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.371916   0.31004608] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -8.1) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 55 is 25.1 meters away at (0.2, 25.1). A vehicle with ID 22 is 33.0 meters away at (-25.1, -21.4). A pedestrian with ID 34 is 40.3 meters away at (23.2, 32.9). A unknown object with ID 19 is 40.4 meters away at (-11.8, -38.7). A pedestrian with ID 32 is 41.5 meters away at (23.7, 34.1). A cyclist with ID 35 is 50.8 meters away at (-30.0, 41.0). A pedestrian with ID 37 is 56.7 meters away at (15.3, 54.6). A pedestrian with ID 36 is 65.2 meters away at (32.6, 56.5). A vehicle with ID 54 is 69.1 meters away at (-29.7, -62.4). A pedestrian with ID 44 is 71.7 meters away at (47.3, 53.8).

The vehicle with ID 55 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 [3.330036 6.219037] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.05161916  0.19327173] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.01780399 -0.00776258] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.209697  -0.0107267] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0190464  -0.02622473] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.5141335  0.11899189] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ -6.1354413 -13.857021 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.17144588 -0.1127594 ] m/s.

There are active red lights at the following coordinates: [[-29.163015 -23.009684]
 [-29.451275 -22.862432]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -8.4) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A vehicle with ID 22 is 13.0 meters away at (-9.1, 9.2). A unknown object with ID 19 is 22.3 meters away at (-2.9, -22.1). A vehicle with ID 28 is 32.0 meters away at (-23.9, -21.2). A vehicle with ID 55 is 42.6 meters away at (9.0, 41.7). A pedestrian with ID 34 is 59.3 meters away at (32.3, 49.7). A pedestrian with ID 32 is 60.2 meters away at (32.5, 50.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [3.604868  6.9899783] m/s.The unknown object with ID 19 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 [3.7153695 7.6270556] m/s.The vehicle with ID 55 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 [ 0.01868679 -0.00843703] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.03786307 -0.01183915] m/s.

There are active red lights at the following coordinates: [[-29.163015 -23.009684]
 [-29.451275 -22.862432]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -4.8) m/s. Its current heading (yaw) is -2.55

The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (1.6, -2.9). A unknown object with ID 10 is 6.2 meters away at (-6.1, -0.5). A vehicle with ID 24 is 6.6 meters away at (3.4, -5.7). A vehicle with ID 29 is 12.6 meters away at (-6.7, -10.7). A vehicle with ID 32 is 14.8 meters away at (-5.5, -13.7). A unknown object with ID 22 is 15.1 meters away at (12.7, -8.3). A unknown object with ID 11 is 20.4 meters away at (20.3, -1.3). A vehicle with ID 33 is 21.7 meters away at (-14.4, -16.3). A vehicle with ID 39 is 29.3 meters away at (-17.6, -23.5). A vehicle with ID 36 is 29.6 meters away at (-20.4, -21.4).

The vehicle with ID 23 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 24 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 32 is traveling at a (x, y) velocity of [1.5944432 1.6644524] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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 39 is traveling at a (x, y) velocity of [2.0131896 2.0225222] m/s.The vehicle with ID 36 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 (-7.5, -5.8) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 33 is 5.3 meters away at (-0.1, -5.3). A vehicle with ID 29 is 7.5 meters away at (7.5, 0.4). A vehicle with ID 39 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 32 is 10.9 meters away at (10.9, -0.7). A vehicle with ID 36 is 12.0 meters away at (-6.0, -10.4). A vehicle with ID 23 is 17.7 meters away at (15.8, 8.1). A vehicle with ID 24 is 18.4 meters away at (17.6, 5.3). A vehicle with ID 6 is 19.4 meters away at (-9.0, -17.2). A vehicle with ID 40 is 19.5 meters away at (-11.7, -15.7). A vehicle with ID 21 is 48.3 meters away at (37.9, 29.9).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [1.2862767 1.2853961] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.3378568 2.4117367] m/s.The vehicle with ID 40 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 [-0.3471305   0.38286692] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -6.2) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 40 is 4.4 meters away at (3.0, -3.2). A vehicle with ID 36 is 9.0 meters away at (8.8, 2.1). A vehicle with ID 6 is 9.7 meters away at (9.6, -1.3). A unknown object with ID 12 is 14.6 meters away at (2.5, -14.4). A vehicle with ID 33 is 16.4 meters away at (14.7, 7.3). A vehicle with ID 39 is 18.2 meters away at (17.5, 5.2). A vehicle with ID 17 is 24.0 meters away at (-14.9, -18.8). A vehicle with ID 29 is 25.7 meters away at (22.3, 12.9). A vehicle with ID 32 is 28.6 meters away at (26.0, 11.9). A vehicle with ID 23 is 37.0 meters away at (30.6, 20.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.0099711 1.1310427] m/s.The unknown object with ID 12 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 [-0.20435399  0.25759068] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.75106215 0.9377088 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [5.293625  4.0657215] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.20149957  0.24824132] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -6.5) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-4.9, -9.4). A vehicle with ID 17 is 11.4 meters away at (11.4, 1.2). A unknown object with ID 12 is 17.9 meters away at (17.8, -1.2). A vehicle with ID 40 is 20.9 meters away at (18.3, 10.1). A unknown object with ID 20 is 24.2 meters away at (23.9, 3.7). A vehicle with ID 36 is 28.7 meters away at (24.1, 15.6). A vehicle with ID 6 is 31.0 meters away at (27.5, 14.3). A vehicle with ID 33 is 36.6 meters away at (30.1, 20.8). A vehicle with ID 39 is 39.2 meters away at (34.2, 19.2). A vehicle with ID 29 is 45.9 meters away at (37.5, 26.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [4.9230356 4.71399  ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.4778185 3.1574614] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.2942838   0.30867842] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.6628699 0.9568016] m/s.The vehicle with ID 33 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.0) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A unknown object with ID 2 is 40.1 meters away at (-38.4, 11.4). A vehicle with ID 37 is 40.2 meters away at (25.6, -31.1). A unknown object with ID 12 is 41.8 meters away at (-39.9, 12.4). A vehicle with ID 45 is 44.7 meters away at (-42.8, 13.1). A vehicle with ID 46 is 48.3 meters away at (-47.4, 9.5). A vehicle with ID 47 is 49.3 meters away at (-47.1, 14.5). A vehicle with ID 28 is 53.7 meters away at (-53.5, 4.7). A vehicle with ID 29 is 54.0 meters away at (-53.2, 9.5). A vehicle with ID 49 is 54.6 meters away at (-52.6, 14.6). A vehicle with ID 20 is 60.4 meters away at (39.2, -46.0).

The unknown object with ID 2 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 [-6.8553114  8.268706 ] m/s.The unknown object with ID 12 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-7.9457583 10.62417  ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-38.4272   11.39747], 40.081817626953125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.1) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A unknown object with ID 2 is 31.1 meters away at (-31.0, 2.3). A vehicle with ID 37 is 32.7 meters away at (20.7, -25.2). A unknown object with ID 12 is 32.7 meters away at (-32.5, 3.3). A vehicle with ID 45 is 35.4 meters away at (-35.2, 4.0). A vehicle with ID 46 is 40.0 meters away at (-40.0, 0.3). A vehicle with ID 47 is 40.0 meters away at (-39.7, 5.4). A vehicle with ID 49 is 45.5 meters away at (-45.1, 5.4). A vehicle with ID 29 is 45.7 meters away at (-45.7, 0.3). A vehicle with ID 20 is 46.1 meters away at (31.0, -34.1). A vehicle with ID 28 is 46.2 meters away at (-46.0, -4.5).

The unknown object with ID 2 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 [-5.304925  6.507153] m/s.The unknown object with ID 12 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 20 is traveling at a (x, y) velocity of [-7.820344 10.333342] 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 closest actor is a unknown object at [-30.999542    2.3101826], 31.08550453186035 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A vehicle with ID 37 is 23.0 meters away at (14.5, -17.8). A vehicle with ID 20 is 25.4 meters away at (18.3, -17.6). A unknown object with ID 2 is 28.1 meters away at (-28.1, -1.3). A unknown object with ID 12 is 29.5 meters away at (-29.5, -0.3). A vehicle with ID 45 is 32.3 meters away at (-32.3, 0.4). A vehicle with ID 47 is 36.8 meters away at (-36.7, 1.9). A vehicle with ID 46 is 37.2 meters away at (-37.1, -3.2). A vehicle with ID 22 is 41.7 meters away at (-34.4, 23.5). A vehicle with ID 49 is 42.3 meters away at (-42.3, 1.9). A vehicle with ID 29 is 43.0 meters away at (-42.9, -3.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.5979939  4.3479943] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.786723   9.6942425] 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 12 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 47 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 22 is traveling at a (x, y) velocity of [ 0.13028872 -7.7700906 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A vehicle with ID 20 is 3.3 meters away at (3.2, 1.0). A vehicle with ID 7 is 13.7 meters away at (-11.0, 8.1). A vehicle with ID 37 is 14.7 meters away at (9.3, -11.5). A unknown object with ID 2 is 27.7 meters away at (-27.7, -1.8). A unknown object with ID 12 is 29.1 meters away at (-29.1, -0.8). A vehicle with ID 13 is 31.1 meters away at (21.5, -22.5). A vehicle with ID 45 is 31.9 meters away at (-31.9, -0.1). A vehicle with ID 47 is 36.3 meters away at (-36.3, 1.3). A vehicle with ID 46 is 36.9 meters away at (-36.7, -3.8). A vehicle with ID 22 is 41.1 meters away at (-40.3, 8.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.407418  9.251341] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 11.525486 -14.070024] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9114523  2.347373 ] 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 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 [-7.7250648  9.808136 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 [-6.236202 -6.778306] 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, -4.0) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A pedestrian with ID 19 is 26.4 meters away at (11.9, -23.6). A pedestrian with ID 21 is 26.8 meters away at (13.0, -23.4). A pedestrian with ID 22 is 29.7 meters away at (-28.4, -8.6). A pedestrian with ID 31 is 30.5 meters away at (-3.7, -30.3). A pedestrian with ID 27 is 35.7 meters away at (-35.2, -6.3). A pedestrian with ID 37 is 39.6 meters away at (11.6, -37.8). A pedestrian with ID 36 is 40.9 meters away at (13.4, -38.6). A pedestrian with ID 32 is 41.4 meters away at (8.6, -40.5). A pedestrian with ID 38 is 44.9 meters away at (9.6, -43.9). A pedestrian with ID 35 is 69.6 meters away at (11.1, 68.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.31669647  1.1171739 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22933662  1.0553031 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.11051466 1.5324954 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9329673 -1.172822 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.162952   0.7808345] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.11652353 -0.6478111 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.02907242 0.65201384] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9169184   0.39763144] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.17931081 -0.33989075] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.22053073 1.038627  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.2) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A pedestrian with ID 19 is 20.3 meters away at (12.0, -16.4). A pedestrian with ID 21 is 20.4 meters away at (12.7, -15.9). A pedestrian with ID 31 is 26.9 meters away at (-1.1, -26.8). A pedestrian with ID 22 is 27.4 meters away at (-27.4, -0.4). A pedestrian with ID 36 is 35.2 meters away at (13.8, -32.4). A pedestrian with ID 32 is 35.3 meters away at (7.0, -34.6). A pedestrian with ID 27 is 35.3 meters away at (-35.3, 1.2). A pedestrian with ID 37 is 35.7 meters away at (11.9, -33.7). A pedestrian with ID 38 is 40.3 meters away at (10.0, -39.0). A vehicle with ID 5 is 61.5 meters away at (-57.9, 20.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.48027885  0.93644994] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.51055026  1.0384837 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3052925  -0.27540633] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.23070338 1.3670502 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.16676739  0.6735576 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.308133    0.60423034] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.43948507  1.179087  ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.24200349 -0.3740557 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01251989 -0.02331977] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.2) m/s. Its current heading (yaw) is -1.83

The most relevant actors are: A pedestrian with ID 19 is 17.3 meters away at (11.1, -13.2). A pedestrian with ID 21 is 17.3 meters away at (11.8, -12.6). A pedestrian with ID 31 is 26.6 meters away at (1.9, -26.5). A pedestrian with ID 22 is 27.1 meters away at (-26.8, 3.7). A pedestrian with ID 32 is 32.4 meters away at (4.4, -32.1). A pedestrian with ID 36 is 33.2 meters away at (14.1, -30.0). A pedestrian with ID 37 is 35.0 meters away at (11.4, -33.0). A pedestrian with ID 27 is 35.8 meters away at (-35.4, 5.2). A pedestrian with ID 2 is 36.4 meters away at (-32.3, 16.6). A pedestrian with ID 38 is 39.2 meters away at (10.3, -37.8).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5441182  1.2086747] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.5415941  1.1255689] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.2958351 -0.4355625] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.13639294  1.4633836 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.2338564  0.8296268] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.16917796 0.53912085] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.36738828 -0.10795078] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.35279572  1.3115305 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.663835   -0.93716174] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.05223001 0.02748059] 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 -1.83

The most relevant actors are: A pedestrian with ID 19 is 14.8 meters away at (10.3, -10.6). A pedestrian with ID 21 is 15.1 meters away at (11.0, -10.3). A vehicle with ID 39 is 21.1 meters away at (3.9, 20.7). A pedestrian with ID 22 is 27.6 meters away at (-26.8, 6.7). A pedestrian with ID 31 is 27.9 meters away at (4.8, -27.5). A pedestrian with ID 32 is 30.3 meters away at (1.9, -30.3). A pedestrian with ID 36 is 32.6 meters away at (14.5, -29.2). A pedestrian with ID 2 is 34.1 meters away at (-30.7, 14.9). A pedestrian with ID 37 is 35.0 meters away at (10.9, -33.2). A pedestrian with ID 27 is 36.7 meters away at (-35.8, 8.0).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.3194008  1.2210767] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2747668  1.2066962] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -0.16978477 -10.2855625 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.02977933  1.5064014 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.414823   -0.60101354] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1835555  0.7507556] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.08958292 0.23054829] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0041888 -0.7525185] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.25687677 -0.08567316] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.34626973  1.2907461 ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 10.28897 -10.5879 ], 14.763689041137695 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.6) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 49 is 7.0 meters away at (-3.1, -6.3). A vehicle with ID 58 is 8.6 meters away at (-8.0, -3.2). A vehicle with ID 55 is 11.4 meters away at (6.7, -9.2). A pedestrian with ID 46 is 11.7 meters away at (5.8, 10.1). A unknown object with ID 64 is 11.9 meters away at (-2.2, -11.7). A unknown object with ID 56 is 12.9 meters away at (7.5, 10.5). A unknown object with ID 65 is 13.1 meters away at (0.2, -13.1). A unknown object with ID 63 is 13.2 meters away at (4.8, 12.3). A unknown object with ID 52 is 13.4 meters away at (10.1, 8.8). A vehicle with ID 82 is 13.5 meters away at (-13.5, 0.4).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.69624156 -1.8120193 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9191139  -0.69792193] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 63 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 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.2) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A vehicle with ID 49 is 8.0 meters away at (-7.0, -3.9). A vehicle with ID 55 is 11.0 meters away at (0.9, -10.9). A unknown object with ID 64 is 11.2 meters away at (-6.4, -9.2). A unknown object with ID 65 is 11.4 meters away at (-4.1, -10.7). A unknown object with ID 45 is 11.5 meters away at (-9.0, -7.1). A pedestrian with ID 46 is 11.7 meters away at (4.3, 10.8). A vehicle with ID 58 is 11.9 meters away at (-11.9, -0.7). A unknown object with ID 52 is 12.8 meters away at (6.1, 11.2). A pedestrian with ID 62 is 12.8 meters away at (8.4, 9.7). A unknown object with ID 73 is 13.2 meters away at (-3.9, -12.6).

The vehicle with ID 49 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 [-0.98139143 -1.5982856 ] m/s.The unknown object with ID 64 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1886604  -0.77587897] m/s.The vehicle with ID 58 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 pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.02080347 -0.00159615] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -0.1) m/s. Its current heading (yaw) is -0.02

The most relevant actors are: A pedestrian with ID 46 is 11.0 meters away at (1.7, 10.9). A pedestrian with ID 79 is 11.3 meters away at (9.1, 6.6). A pedestrian with ID 62 is 11.6 meters away at (3.3, 11.1). A vehicle with ID 49 is 12.3 meters away at (-12.1, -2.4). A pedestrian with ID 72 is 12.6 meters away at (4.4, 11.8). A unknown object with ID 52 is 12.6 meters away at (1.1, 12.6). A pedestrian with ID 89 is 12.7 meters away at (4.0, -12.0). A unknown object with ID 65 is 13.0 meters away at (-9.1, -9.3). A vehicle with ID 55 is 13.1 meters away at (-5.7, -11.7). A unknown object with ID 64 is 13.8 meters away at (-11.5, -7.7).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1858991  -0.67805266] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2077191  0.8527158] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.06350597  0.10139132] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.8219398   0.03977703] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.94460255 -0.71828294] m/s.The unknown object with ID 65 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 [-0.22715954 -0.41590425] m/s.The unknown object with ID 64 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 (0.7, 0.2) m/s. Its current heading (yaw) is 0.29

The most relevant actors are: A pedestrian with ID 79 is 8.2 meters away at (3.1, 7.6). A pedestrian with ID 46 is 8.9 meters away at (0.3, 8.9). A pedestrian with ID 62 is 10.5 meters away at (-1.2, 10.4). A pedestrian with ID 72 is 11.0 meters away at (-0.5, 11.0). A unknown object with ID 52 is 12.4 meters away at (-2.3, 12.2). A unknown object with ID 61 is 13.5 meters away at (0.7, 13.5). A pedestrian with ID 89 is 13.8 meters away at (-1.2, -13.8). A unknown object with ID 56 is 14.7 meters away at (-4.9, 13.9). A pedestrian with ID 91 is 15.0 meters away at (-0.8, -15.0). A vehicle with ID 49 is 15.7 meters away at (-15.4, -3.0).

The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2995718   0.61406946] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.8916445  -0.96637356] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.75946057 -0.3922062 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6218357  -0.39119813] 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.8229407 -0.7160702] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.85467446 -0.7063169 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [3.0623407 7.571332 ], 8.167190551757812 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -3.6) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A vehicle with ID 84 is 5.8 meters away at (-2.1, -5.4). A vehicle with ID 85 is 6.4 meters away at (-6.0, -2.2). A pedestrian with ID 95 is 8.3 meters away at (-6.8, -4.8). A vehicle with ID 83 is 9.5 meters away at (2.2, -9.2). A vehicle with ID 98 is 12.6 meters away at (-9.5, -8.3). A unknown object with ID 57 is 13.1 meters away at (5.1, -12.0). A vehicle with ID 86 is 13.5 meters away at (13.5, -0.6). A vehicle with ID 107 is 13.9 meters away at (-6.3, -12.4). A pedestrian with ID 91 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 124 is 14.0 meters away at (7.4, -11.9).

The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.78864425  0.74064815] m/s.The vehicle with ID 83 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 unknown object with ID 57 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9886389  0.7782773] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-44.620586  36.69113 ]
 [-43.68409   37.485306]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.3) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A unknown object with ID 124 is 4.9 meters away at (0.1, -4.9). A vehicle with ID 83 is 5.6 meters away at (-5.1, -2.4). A cyclist with ID 70 is 7.2 meters away at (0.0, -7.2). A unknown object with ID 30 is 8.4 meters away at (3.2, -7.8). A vehicle with ID 86 is 8.8 meters away at (6.2, 6.3). A vehicle with ID 84 is 9.5 meters away at (-9.4, 1.4). A unknown object with ID 41 is 10.1 meters away at (3.6, 9.4). A vehicle with ID 87 is 11.2 meters away at (11.1, 2.0). A pedestrian with ID 25 is 11.9 meters away at (8.6, 8.3). A vehicle with ID 125 is 12.2 meters away at (-8.0, -9.3).

The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [ 0.00017023 -0.00308541] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 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 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.80728924 -0.7983627 ] m/s.The vehicle with ID 125 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 [ 0.07282829 -4.9393463 ], 4.939883232116699 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.0) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A pedestrian with ID 33 is 3.5 meters away at (-1.9, -3.0). A unknown object with ID 30 is 3.7 meters away at (-3.4, -1.4). A unknown object with ID 10 is 4.3 meters away at (-0.2, -4.3). A unknown object with ID 60 is 5.0 meters away at (-5.0, -0.2). A cyclist with ID 70 is 6.6 meters away at (-6.6, -0.8). A unknown object with ID 124 is 6.7 meters away at (-6.5, 1.4). A unknown object with ID 72 is 7.6 meters away at (2.7, -7.1). A pedestrian with ID 71 is 8.8 meters away at (-7.4, -4.8). A vehicle with ID 87 is 9.4 meters away at (4.5, 8.2). A vehicle with ID 88 is 9.8 meters away at (8.4, 4.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00694765  0.0155957 ] 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 10 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 cyclist with ID 70 is traveling at a (x, y) velocity of [0.02386211 0.02848199] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.9708546  0.8587611] m/s.The vehicle with ID 87 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -2.6) m/s. Its current heading (yaw) is -0.76

The most relevant actors are: A unknown object with ID 72 is 3.4 meters away at (-3.1, -1.4). A pedestrian with ID 68 is 3.5 meters away at (-1.6, -3.1). A unknown object with ID 5 is 4.4 meters away at (0.0, -4.4). A pedestrian with ID 7 is 4.5 meters away at (-2.6, -3.6). A unknown object with ID 10 is 6.3 meters away at (-6.1, 1.4). A unknown object with ID 2 is 7.9 meters away at (3.2, -7.3). A unknown object with ID 30 is 10.2 meters away at (-9.3, 4.2). A vehicle with ID 88 is 10.8 meters away at (2.6, 10.5). A vehicle with ID 1 is 13.0 meters away at (5.5, -11.8). A pedestrian with ID 15 is 13.3 meters away at (-12.4, 4.8).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.00010468 -0.00266017] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.02740241 0.00404289] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 88 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 pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00173263 -0.00875184] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-3.1031075 -1.4409008], 3.421325922012329 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.3) m/s. Its current heading (yaw) is 2.90

The most relevant actors are: A vehicle with ID 16 is 18.0 meters away at (9.9, -15.0). A vehicle with ID 12 is 18.0 meters away at (-15.0, -10.1). A vehicle with ID 13 is 19.9 meters away at (12.3, -15.6). A vehicle with ID 11 is 20.0 meters away at (-17.7, -9.4). A vehicle with ID 14 is 21.8 meters away at (14.6, -16.2). A vehicle with ID 17 is 23.2 meters away at (-22.4, 6.1). A vehicle with ID 15 is 24.3 meters away at (17.3, -17.0). A unknown object with ID 5 is 38.0 meters away at (-29.5, 23.9). A vehicle with ID 19 is 44.5 meters away at (22.5, -38.3). A vehicle with ID 20 is 45.8 meters away at (25.3, -38.3).

The vehicle with ID 16 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.5346203  1.9957114] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 0.5) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A unknown object with ID 3 is 10.5 meters away at (-2.3, -10.3). A vehicle with ID 12 is 14.4 meters away at (-8.2, -11.8). A vehicle with ID 11 is 15.6 meters away at (-10.9, -11.1). A vehicle with ID 16 is 23.7 meters away at (16.6, -16.9). A vehicle with ID 13 is 25.8 meters away at (19.1, -17.4). A vehicle with ID 14 is 28.0 meters away at (21.4, -18.0). A vehicle with ID 15 is 30.5 meters away at (24.0, -18.8). A unknown object with ID 5 is 31.8 meters away at (-22.9, 22.1). A vehicle with ID 17 is 33.0 meters away at (-31.4, 10.1). A vehicle with ID 19 is 49.7 meters away at (29.3, -40.1).

The unknown object with ID 3 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 [-9.150262  4.01738 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.87

The most relevant actors are: A vehicle with ID 12 is 14.0 meters away at (-6.9, -12.2). A vehicle with ID 11 is 15.0 meters away at (-9.7, -11.5). A vehicle with ID 16 is 24.9 meters away at (17.9, -17.3). A vehicle with ID 13 is 27.0 meters away at (20.3, -17.8). A vehicle with ID 14 is 29.2 meters away at (22.7, -18.4). A unknown object with ID 5 is 30.7 meters away at (-21.8, 21.7). A vehicle with ID 15 is 31.6 meters away at (25.3, -19.1). A unknown object with ID 8 is 33.1 meters away at (29.4, -15.3). A vehicle with ID 19 is 50.7 meters away at (30.6, -40.5). A vehicle with ID 20 is 52.3 meters away at (33.3, -40.4).

The vehicle with ID 12 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 unknown object with ID 8 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.8) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A unknown object with ID 2 is 11.4 meters away at (1.6, -11.3). A vehicle with ID 12 is 13.5 meters away at (-4.3, -12.8). A vehicle with ID 11 is 14.1 meters away at (-7.0, -12.2). A unknown object with ID 4 is 15.8 meters away at (-0.2, 15.8). A vehicle with ID 16 is 27.3 meters away at (20.5, -18.1). A unknown object with ID 5 is 28.3 meters away at (-18.9, 21.0). A vehicle with ID 13 is 29.5 meters away at (23.0, -18.5). A vehicle with ID 14 is 31.7 meters away at (25.3, -19.1). A vehicle with ID 15 is 34.2 meters away at (27.8, -19.8). A vehicle with ID 19 is 52.9 meters away at (33.1, -41.3).

The unknown object with ID 2 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 [  1.5639038 -11.341442 ], 11.448760032653809 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.2) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A pedestrian with ID 64 is 9.4 meters away at (7.9, -5.0). A vehicle with ID 62 is 14.0 meters away at (2.3, 13.8). A unknown object with ID 23 is 18.7 meters away at (13.1, 13.4). A vehicle with ID 61 is 20.7 meters away at (6.7, 19.6). A vehicle with ID 21 is 23.3 meters away at (17.0, 15.9). A vehicle with ID 66 is 26.0 meters away at (17.5, -19.2). A vehicle with ID 58 is 28.7 meters away at (12.4, 25.9). A vehicle with ID 67 is 29.6 meters away at (11.4, -27.3). A vehicle with ID 24 is 30.2 meters away at (21.2, 21.5). A pedestrian with ID 65 is 30.9 meters away at (7.6, -29.9).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.7457064  0.11404263] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 66 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.405944 -0.322483] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.3) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A unknown object with ID 19 is 3.3 meters away at (0.6, -3.3). A vehicle with ID 62 is 6.2 meters away at (-5.0, 3.7). A unknown object with ID 23 is 6.6 meters away at (5.9, 3.1). A vehicle with ID 61 is 9.5 meters away at (-0.6, 9.5). A pedestrian with ID 35 is 11.1 meters away at (-3.3, -10.6). A vehicle with ID 21 is 11.3 meters away at (9.7, 5.9). A pedestrian with ID 64 is 14.7 meters away at (1.9, -14.6). A vehicle with ID 58 is 16.5 meters away at (5.0, 15.7). A vehicle with ID 24 is 18.0 meters away at (14.0, 11.4). A unknown object with ID 13 is 20.3 meters away at (8.2, 18.6).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.04806679 0.00144304] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.44231278 0.3368624 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 [ 0.63749695 -3.2752209 ], 3.336686134338379 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 21 is 5.0 meters away at (1.0, -4.9). A vehicle with ID 24 is 5.2 meters away at (5.2, 0.6). A vehicle with ID 58 is 6.3 meters away at (-3.8, 5.0). A unknown object with ID 13 is 7.8 meters away at (-0.6, 7.8). A unknown object with ID 23 is 8.2 meters away at (-2.9, -7.6). A unknown object with ID 14 is 8.6 meters away at (-1.4, 8.5). A vehicle with ID 61 is 9.5 meters away at (-9.4, -1.3). A unknown object with ID 43 is 11.0 meters away at (10.4, 3.6). A unknown object with ID 11 is 11.8 meters away at (2.4, 11.6). A unknown object with ID 26 is 12.3 meters away at (1.7, 12.2).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 48 is 5.9 meters away at (5.2, -2.9). A vehicle with ID 22 is 6.1 meters away at (5.8, 1.9). A unknown object with ID 10 is 6.3 meters away at (-4.4, 4.6). A unknown object with ID 11 is 6.4 meters away at (-6.3, 1.0). A unknown object with ID 26 is 7.3 meters away at (-7.1, 1.6). A unknown object with ID 43 is 7.3 meters away at (1.8, -7.1). A unknown object with ID 13 is 9.7 meters away at (-9.3, -2.8). A unknown object with ID 14 is 10.3 meters away at (-10.1, -2.1). A vehicle with ID 24 is 10.5 meters away at (-3.5, -9.9). A vehicle with ID 20 is 11.2 meters away at (9.5, 6.0).

The unknown object with ID 48 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 closest actor is a unknown object at [ 5.181988  -2.8534584], 5.915676116943359 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 8.0) m/s. Its current heading (yaw) is 1.16

The most relevant actors are: A vehicle with ID 59 is 11.4 meters away at (5.2, -10.1). A vehicle with ID 6 is 11.4 meters away at (-3.5, -10.9). A vehicle with ID 2 is 11.7 meters away at (-11.4, 2.6). A vehicle with ID 61 is 15.1 meters away at (7.0, -13.4). A vehicle with ID 55 is 17.2 meters away at (2.5, -17.0). A pedestrian with ID 62 is 17.9 meters away at (-15.5, -9.1). A vehicle with ID 101 is 19.2 meters away at (14.6, 12.5). A pedestrian with ID 53 is 19.3 meters away at (-13.5, -13.8). A vehicle with ID 66 is 19.4 meters away at (12.1, -15.2). A pedestrian with ID 56 is 19.9 meters away at (-14.2, -13.9).

The vehicle with ID 59 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 [2.9129016 8.092131 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.5849135  0.73553663] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.52439475 -0.5957968 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-3.41683  -7.675974] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.02991488 0.03970431] m/s.The vehicle with ID 66 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 [0.02179596 0.01950776] 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, 8.8) m/s. Its current heading (yaw) is 1.13

The most relevant actors are: A vehicle with ID 6 is 11.5 meters away at (-4.1, -10.7). A vehicle with ID 101 is 15.2 meters away at (2.2, -15.1). A unknown object with ID 100 is 19.4 meters away at (1.2, 19.3). A vehicle with ID 2 is 20.8 meters away at (-16.3, -12.9). A unknown object with ID 35 is 22.3 meters away at (3.1, 22.1). A vehicle with ID 3 is 25.9 meters away at (-10.1, -23.9). A vehicle with ID 59 is 26.9 meters away at (-2.2, -26.8). A vehicle with ID 23 is 28.1 meters away at (27.5, 6.0). A vehicle with ID 72 is 29.1 meters away at (9.9, -27.4). A vehicle with ID 15 is 29.2 meters away at (-24.7, -15.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [3.9840581 9.112459 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-1.3549925 -3.0058248] m/s.The unknown object with ID 100 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 [1.7859141  0.90129536] m/s.The unknown object with ID 35 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 [3.137212 9.685409] m/s.The vehicle with ID 59 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 [-3.225435  -6.8934608] m/s.The vehicle with ID 72 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 [1.5753999 0.3631384] 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, 8.9) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A unknown object with ID 32 is 7.2 meters away at (-6.4, 3.4). A unknown object with ID 35 is 7.3 meters away at (-5.8, 4.4). A unknown object with ID 100 is 7.9 meters away at (-7.7, 1.7). A vehicle with ID 6 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 27 is 19.6 meters away at (17.8, 8.1). A vehicle with ID 36 is 19.8 meters away at (16.8, -10.4). A vehicle with ID 3 is 23.9 meters away at (-11.6, -20.9). A vehicle with ID 23 is 27.9 meters away at (12.5, -24.9). A vehicle with ID 2 is 33.3 meters away at (-18.9, -27.4). A vehicle with ID 101 is 36.7 meters away at (-7.9, -35.8).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 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 [5.6693864 9.978632 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -7.5053916 -11.97756  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.8964124 -9.157471 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.098333 10.779382] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.7046535 -6.1475015] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.4728947 3.0909622] m/s.The vehicle with ID 101 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 [-6.3694763  3.395462 ], 7.217990875244141 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 9.1) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A vehicle with ID 6 is 7.0 meters away at (-1.0, -6.9). A vehicle with ID 48 is 16.8 meters away at (16.6, -2.6). A unknown object with ID 35 is 21.3 meters away at (-16.3, -13.8). A vehicle with ID 3 is 21.8 meters away at (-12.8, -17.7). A unknown object with ID 100 is 24.5 meters away at (-18.1, -16.5). A vehicle with ID 27 is 33.0 meters away at (-5.4, -32.5). A pedestrian with ID 44 is 35.2 meters away at (10.7, 33.6). A vehicle with ID 2 is 39.6 meters away at (-19.5, -34.4). A vehicle with ID 36 is 45.6 meters away at (-2.4, -45.5). A vehicle with ID 31 is 46.8 meters away at (39.7, 24.7).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.3348064 11.128429 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ -8.416186 -12.626744] m/s.The unknown object with ID 35 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 [ 5.2526336 10.567182 ] m/s.The unknown object with ID 100 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 [ -5.0273304 -10.174292 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.6621673 1.0058875] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [5.350085  7.9235735] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.4706411 -7.3843036] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -8.527446 -12.617939] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 35 is 6.2 meters away at (0.6, 6.2). A vehicle with ID 36 is 9.3 meters away at (-4.5, 8.1). A unknown object with ID 29 is 11.0 meters away at (4.4, 10.1). A vehicle with ID 44 is 13.6 meters away at (-2.7, -13.4). A vehicle with ID 38 is 14.1 meters away at (-10.0, 10.0). A vehicle with ID 46 is 16.2 meters away at (2.8, -16.0). A vehicle with ID 39 is 19.0 meters away at (-15.9, -10.3). A vehicle with ID 8 is 21.2 meters away at (14.1, 15.8). A vehicle with ID 56 is 21.3 meters away at (1.3, -21.3). A vehicle with ID 42 is 23.6 meters away at (-18.0, -15.2).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 38 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 39 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 0.2) m/s. Its current heading (yaw) is 0.07

The most relevant actors are: A vehicle with ID 35 is 7.8 meters away at (-3.7, 6.9). A vehicle with ID 36 is 12.5 meters away at (-8.9, 8.8). A vehicle with ID 44 is 14.6 meters away at (-7.2, -12.6). A vehicle with ID 46 is 15.4 meters away at (-1.8, -15.3). A vehicle with ID 38 is 18.0 meters away at (-14.5, 10.7). A vehicle with ID 8 is 19.1 meters away at (9.7, 16.4). A vehicle with ID 56 is 20.9 meters away at (-3.3, -20.6). A vehicle with ID 39 is 22.6 meters away at (-20.5, -9.5). A vehicle with ID 47 is 24.8 meters away at (15.6, -19.2). A vehicle with ID 49 is 25.4 meters away at (22.6, -11.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 56 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.9) m/s. Its current heading (yaw) is 0.74

The most relevant actors are: A vehicle with ID 8 is 12.6 meters away at (0.9, 12.6). A vehicle with ID 35 is 13.0 meters away at (-12.6, 3.1). A vehicle with ID 36 is 18.6 meters away at (-17.9, 5.1). A vehicle with ID 49 is 20.6 meters away at (13.6, -15.4). A vehicle with ID 46 is 21.9 meters away at (-10.6, -19.2). A unknown object with ID 16 is 22.2 meters away at (3.1, 22.0). A unknown object with ID 53 is 22.6 meters away at (21.4, -7.2). A vehicle with ID 44 is 23.0 meters away at (-16.1, -16.5). A vehicle with ID 47 is 24.1 meters away at (6.8, -23.1). A vehicle with ID 38 is 24.4 meters away at (-23.4, 6.9).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 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 47 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.1) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 8 is 7.3 meters away at (-6.2, 3.9). A vehicle with ID 3 is 15.8 meters away at (-2.1, 15.6). A vehicle with ID 1 is 20.3 meters away at (-0.6, 20.2). A vehicle with ID 35 is 20.5 meters away at (-19.7, -5.6). A vehicle with ID 30 is 20.9 meters away at (8.9, -18.9). A pedestrian with ID 28 is 21.2 meters away at (10.1, 18.7). A pedestrian with ID 33 is 21.3 meters away at (10.7, 18.5). A unknown object with ID 12 is 24.6 meters away at (13.8, 20.4). A vehicle with ID 49 is 25.0 meters away at (6.5, -24.1). A vehicle with ID 36 is 25.2 meters away at (-24.9, -3.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 30 is traveling at a (x, y) velocity of [-3.1300979  1.1903981] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.01856405 -0.00753258] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01110669 -0.00239674] m/s.The unknown object with ID 12 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 36 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, -0.1) m/s. Its current heading (yaw) is -1.86

The most relevant actors are: A vehicle with ID 2 is 4.5 meters away at (-2.8, 3.5). A cyclist with ID 62 is 7.3 meters away at (-5.6, -4.7). A pedestrian with ID 56 is 13.1 meters away at (11.4, -6.5). A pedestrian with ID 57 is 17.7 meters away at (0.1, 17.7). A unknown object with ID 19 is 18.6 meters away at (14.9, -11.1). A unknown object with ID 28 is 19.0 meters away at (16.6, -9.4). A unknown object with ID 31 is 19.2 meters away at (16.0, -10.6). A unknown object with ID 29 is 19.9 meters away at (17.2, -10.0). A unknown object with ID 30 is 20.4 meters away at (17.0, -11.2). A pedestrian with ID 59 is 21.9 meters away at (-1.7, 21.8).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 62 is traveling at a (x, y) velocity of [ 6.227948  -2.0975475] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00029115 -0.00158164] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.0113383  0.01747818] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 pedestrian with ID 59 is traveling at a (x, y) velocity of [0.0145132  0.01819238] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.4) m/s. Its current heading (yaw) is -1.75

The most relevant actors are: A vehicle with ID 2 is 6.0 meters away at (-2.4, 5.5). A cyclist with ID 62 is 10.9 meters away at (7.3, -8.2). A pedestrian with ID 56 is 12.6 meters away at (11.8, -4.4). A unknown object with ID 19 is 17.9 meters away at (15.4, -9.1). A unknown object with ID 28 is 18.6 meters away at (17.0, -7.4). A unknown object with ID 31 is 18.7 meters away at (16.5, -8.9). A unknown object with ID 15 is 19.3 meters away at (16.7, -9.7). A unknown object with ID 29 is 19.4 meters away at (17.6, -8.0). A unknown object with ID 30 is 19.6 meters away at (17.0, -9.8). A vehicle with ID 67 is 21.1 meters away at (-7.6, 19.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 62 is traveling at a (x, y) velocity of [ 6.4079356 -2.6497738] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.06533301 -0.03771198] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 67 is traveling at a (x, y) velocity of [ 2.6781652 -1.082371 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.4) m/s. Its current heading (yaw) is -1.18

The most relevant actors are: A vehicle with ID 2 is 8.5 meters away at (-2.1, 8.2). A unknown object with ID 19 is 15.8 meters away at (14.9, -5.4). A unknown object with ID 31 is 16.8 meters away at (16.0, -5.0). A unknown object with ID 28 is 16.9 meters away at (16.5, -3.7). A unknown object with ID 15 is 17.3 meters away at (16.2, -6.0). A unknown object with ID 14 is 17.7 meters away at (16.7, -5.8). A unknown object with ID 29 is 17.7 meters away at (17.2, -4.3). A unknown object with ID 30 is 17.9 meters away at (17.0, -5.4). A unknown object with ID 38 is 20.0 meters away at (-7.8, -18.5). A vehicle with ID 67 is 22.2 meters away at (-4.8, 21.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.4625511 -1.004031 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 0.6012118  -0.40168592] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.8) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A pedestrian with ID 46 is 8.2 meters away at (7.1, 3.9). A unknown object with ID 19 is 10.8 meters away at (10.8, -0.8). A vehicle with ID 2 is 11.2 meters away at (-5.5, 9.8). A unknown object with ID 31 is 11.9 meters away at (11.9, -0.4). A unknown object with ID 15 is 12.1 meters away at (12.1, -1.4). A unknown object with ID 14 is 12.3 meters away at (12.3, -1.4). A unknown object with ID 28 is 12.4 meters away at (12.4, 0.9). A unknown object with ID 30 is 12.9 meters away at (12.8, -0.8). A unknown object with ID 29 is 13.1 meters away at (13.1, 0.3). A pedestrian with ID 55 is 23.2 meters away at (23.2, -1.5).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.03643279 -0.00731639] m/s.The unknown object with ID 19 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 [ 0.5055498 -2.0968332] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.72650737  0.41830158] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [7.1327095 3.9497228], 8.15327262878418 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.5) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 22 is 4.0 meters away at (-3.4, -2.0). A vehicle with ID 58 is 9.3 meters away at (-8.8, 2.9). A vehicle with ID 61 is 10.5 meters away at (3.6, -9.8). A unknown object with ID 59 is 17.2 meters away at (-8.8, 14.7). A unknown object with ID 60 is 17.7 meters away at (-7.9, 15.9). A vehicle with ID 63 is 18.3 meters away at (17.9, 3.9). A vehicle with ID 12 is 18.6 meters away at (-13.9, 12.3). A vehicle with ID 66 is 24.7 meters away at (22.0, -11.3). A vehicle with ID 68 is 30.7 meters away at (26.7, -15.1). A vehicle with ID 69 is 36.8 meters away at (31.5, -19.2).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 vehicle with ID 63 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 [ 5.3717403 -4.211422 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 (5.5, -5.1) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A vehicle with ID 61 is 6.0 meters away at (-5.9, -1.3). A vehicle with ID 66 is 12.7 meters away at (12.4, -2.6). A vehicle with ID 22 is 14.3 meters away at (-12.8, 6.3). A vehicle with ID 63 is 15.0 meters away at (8.3, 12.5). A vehicle with ID 12 is 17.4 meters away at (-12.6, 12.0). A vehicle with ID 68 is 18.3 meters away at (17.1, -6.4). A vehicle with ID 58 is 21.0 meters away at (-17.9, 10.9). A vehicle with ID 69 is 24.2 meters away at (21.8, -10.5). A vehicle with ID 71 is 29.8 meters away at (26.1, -14.3). A unknown object with ID 59 is 29.8 meters away at (-18.6, 23.3).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 5.5049834 -5.038354 ] m/s.The vehicle with ID 68 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -6.0) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 68 is 7.0 meters away at (4.9, 5.0). A vehicle with ID 66 is 8.8 meters away at (0.2, 8.8). A vehicle with ID 39 is 9.1 meters away at (8.8, -2.3). A vehicle with ID 69 is 9.7 meters away at (9.6, 1.0). A vehicle with ID 71 is 14.2 meters away at (13.9, -2.9). A vehicle with ID 12 is 18.6 meters away at (-13.4, 12.9). A vehicle with ID 61 is 20.8 meters away at (-18.1, 10.2). A vehicle with ID 57 is 21.7 meters away at (20.1, -8.4). A vehicle with ID 41 is 30.1 meters away at (-6.0, -29.5). A vehicle with ID 22 is 30.6 meters away at (-24.9, 17.8).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-6.6154475  5.97724  ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.092769  -5.5145526] m/s.The vehicle with ID 61 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.6) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 57 is 7.6 meters away at (6.9, 3.1). A vehicle with ID 71 is 8.5 meters away at (0.9, 8.5). A vehicle with ID 69 is 12.8 meters away at (-3.4, 12.3). A vehicle with ID 23 is 16.5 meters away at (10.1, -13.0). A vehicle with ID 12 is 18.2 meters away at (-13.4, 12.3). A vehicle with ID 68 is 18.2 meters away at (-8.0, 16.3). A vehicle with ID 49 is 20.3 meters away at (-18.2, -9.0). A vehicle with ID 66 is 23.9 meters away at (-12.8, 20.2). A vehicle with ID 41 is 26.4 meters away at (-19.2, -18.1). A vehicle with ID 39 is 27.7 meters away at (-17.7, 21.3).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 12 is traveling at a (x, y) velocity of [ 6.8791394 -6.0677342] m/s.The vehicle with ID 68 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 66 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 39 is traveling at a (x, y) velocity of [-6.5147214  6.371042 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -4.7) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A pedestrian with ID 51 is 6.3 meters away at (0.2, 6.3). A vehicle with ID 53 is 8.1 meters away at (8.1, -0.6). A pedestrian with ID 46 is 15.6 meters away at (-11.0, 11.0). A pedestrian with ID 47 is 15.6 meters away at (-10.7, 11.5). A pedestrian with ID 55 is 17.4 meters away at (17.1, -3.6). A pedestrian with ID 45 is 17.5 meters away at (-12.3, 12.5). A pedestrian with ID 59 is 18.8 meters away at (18.0, -5.6). A pedestrian with ID 60 is 19.1 meters away at (18.4, -5.1). A vehicle with ID 58 is 20.5 meters away at (13.0, -15.9). A pedestrian with ID 62 is 21.6 meters away at (20.6, -6.5).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.0416708   0.64946234] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2339731   0.47287592] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.298506    0.36891887] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0100479  -0.50361174] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 1.0999181 -0.2316064] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.1217693  0.6897083] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1126775  0.6741333] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.1099565   0.56502765] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.4) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A pedestrian with ID 62 is 5.4 meters away at (2.4, 4.9). A pedestrian with ID 63 is 5.5 meters away at (4.7, 2.9). A pedestrian with ID 59 is 6.1 meters away at (0.2, 6.1). A pedestrian with ID 55 is 6.1 meters away at (3.1, 5.2). A pedestrian with ID 64 is 6.3 meters away at (5.4, 3.3). A vehicle with ID 58 is 6.4 meters away at (-3.0, -5.6). A pedestrian with ID 60 is 6.6 meters away at (0.4, 6.6). A vehicle with ID 65 is 12.0 meters away at (4.9, -10.9). A vehicle with ID 53 is 12.4 meters away at (-7.9, 9.6). A pedestrian with ID 61 is 19.7 meters away at (-15.5, -12.1).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.0464934  0.7168624] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.9132061   0.53316593] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.7835417  0.6683406] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.1445647 -0.8624486] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.9267578   0.49857748] m/s.The vehicle with ID 58 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 [-0.80040014  0.6361838 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.9529028   0.55050874] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [2.373207  4.8900814], 5.435532093048096 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.3, -6.1) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 65 is 12.7 meters away at (-12.7, 0.6). A vehicle with ID 66 is 14.9 meters away at (7.7, -12.7). A pedestrian with ID 55 is 19.9 meters away at (-12.5, 15.5). A pedestrian with ID 64 is 21.0 meters away at (-13.9, 15.7). A vehicle with ID 58 is 21.4 meters away at (-20.6, 5.9). A pedestrian with ID 63 is 21.6 meters away at (-14.8, 15.8). A pedestrian with ID 62 is 24.7 meters away at (-17.0, 18.0). A pedestrian with ID 59 is 26.9 meters away at (-19.2, 18.8). A pedestrian with ID 60 is 26.9 meters away at (-18.7, 19.3). A vehicle with ID 53 is 33.2 meters away at (-25.6, 21.2).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0061078 -0.7301006] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.90474665  0.56851745] m/s.The vehicle with ID 58 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 [-0.84558547  0.6014696 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.93822277  0.81410736] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.98615384  0.7990582 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9329128  0.7647668] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching