The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.2) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A unknown object with ID 46 is 16.0 meters away at (12.5, 10.0). A vehicle with ID 43 is 20.8 meters away at (-16.9, -12.1). A unknown object with ID 23 is 25.9 meters away at (-16.1, 20.3). A vehicle with ID 39 is 33.8 meters away at (-22.8, 25.0). A vehicle with ID 38 is 39.7 meters away at (-27.4, 28.7). A vehicle with ID 37 is 45.4 meters away at (-32.4, 31.7). A vehicle with ID 50 is 47.5 meters away at (-29.6, -37.1). A vehicle with ID 48 is 49.3 meters away at (-37.7, -31.7). A vehicle with ID 52 is 53.1 meters away at (-33.1, -41.6). A vehicle with ID 10 is 53.4 meters away at (-43.2, 31.4).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.4955583 -3.5570881] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [12.499813  9.983702], 15.997488021850586 meters away.)


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

The most relevant actors are: A unknown object with ID 46 is 20.6 meters away at (0.0, 20.6). A vehicle with ID 43 is 29.7 meters away at (-29.7, -1.7). A unknown object with ID 3 is 38.0 meters away at (32.3, -19.9). A unknown object with ID 1 is 39.7 meters away at (33.7, -21.1). A vehicle with ID 50 is 49.6 meters away at (-42.0, -26.4). A vehicle with ID 39 is 50.3 meters away at (-35.4, 35.7). A vehicle with ID 48 is 54.4 meters away at (-50.2, -20.9). A vehicle with ID 52 is 55.0 meters away at (-45.5, -31.0). A unknown object with ID 25 is 55.5 meters away at (13.6, -53.8). A vehicle with ID 38 is 56.1 meters away at (-39.9, 39.4).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.3573981  -0.41661933] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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: Sharp right turn approaching

(The closest actor is a unknown object at [ 0.02938843 20.5996    ], 20.599620819091797 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.8) m/s. Its current heading (yaw) is 1.92

The most relevant actors are: A pedestrian with ID 21 is 26.0 meters away at (-25.5, 5.0). A unknown object with ID 15 is 30.1 meters away at (-28.9, 8.3). A unknown object with ID 14 is 30.4 meters away at (-29.2, 8.3). A pedestrian with ID 26 is 38.5 meters away at (22.6, 31.2). A pedestrian with ID 23 is 38.8 meters away at (24.2, 30.3). A pedestrian with ID 25 is 49.8 meters away at (-44.5, 22.4). A vehicle with ID 24 is 51.6 meters away at (-45.8, 23.8). A vehicle with ID 27 is 71.4 meters away at (17.9, 69.1).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.223084   -0.05943818] 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0710188  -0.97463435] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.6624668 -1.1733929] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.15953521 -0.06108531] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [-25.49894   4.95805], 25.97649383544922 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A pedestrian with ID 21 is 23.6 meters away at (-23.2, 4.4). A pedestrian with ID 9 is 24.2 meters away at (-7.7, -22.9). A pedestrian with ID 26 is 35.8 meters away at (21.4, 28.8). A pedestrian with ID 23 is 35.9 meters away at (23.3, 27.4). A pedestrian with ID 25 is 50.3 meters away at (-45.3, 21.8). A vehicle with ID 24 is 51.3 meters away at (-45.7, 23.4).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1643934  -0.03959337] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00374661 -0.00623148] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.46554327 -1.2472575 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.2042057 -1.3676953] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.5228671   0.12603676] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 1.6) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A pedestrian with ID 21 is 20.7 meters away at (-20.5, 3.3). A unknown object with ID 4 is 29.3 meters away at (-28.5, 6.8). A unknown object with ID 3 is 29.6 meters away at (-28.8, 6.8). A pedestrian with ID 26 is 33.0 meters away at (22.0, 24.6). A pedestrian with ID 23 is 33.2 meters away at (23.8, 23.2). A unknown object with ID 2 is 36.9 meters away at (-36.7, 4.0). A vehicle with ID 24 is 50.4 meters away at (-45.1, 22.5). A pedestrian with ID 25 is 50.6 meters away at (-46.0, 21.0). A pedestrian with ID 5 is 53.6 meters away at (-53.5, 2.7). A vehicle with ID 11 is 69.8 meters away at (18.7, 67.3).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.142093   -0.12654746] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.16762523 -1.5223594 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.08097135 -1.418931  ] m/s.The unknown object with ID 2 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 25 is traveling at a (x, y) velocity of [-0.7988509 -0.2922497] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0068903 -0.0032401] m/s.The vehicle with ID 11 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, 2.8) m/s. Its current heading (yaw) is 2.35

The most relevant actors are: A pedestrian with ID 21 is 15.5 meters away at (-15.4, -1.8). A unknown object with ID 4 is 25.6 meters away at (-25.5, 1.9). A unknown object with ID 3 is 25.9 meters away at (-25.8, 1.8). A pedestrian with ID 26 is 30.2 meters away at (25.0, 16.8). A pedestrian with ID 23 is 30.6 meters away at (26.2, 15.7). A unknown object with ID 1 is 33.8 meters away at (-33.8, 0.7). A unknown object with ID 2 is 33.8 meters away at (-33.8, -0.8). A vehicle with ID 24 is 45.8 meters away at (-42.3, 17.6). A pedestrian with ID 25 is 47.5 meters away at (-44.5, 16.6). A pedestrian with ID 5 is 50.7 meters away at (-50.6, -2.2).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1204998  -0.01565211] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.06499039 -1.4076318 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.08573661 -1.3136483 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 [-0.42288446  0.2809741 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.11124633 0.04929624] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.7) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A unknown object with ID 23 is 18.7 meters away at (4.6, -18.2). A pedestrian with ID 28 is 20.8 meters away at (-20.7, -2.7). A vehicle with ID 30 is 23.8 meters away at (-22.1, -8.9). A pedestrian with ID 8 is 27.7 meters away at (25.9, 9.8). A vehicle with ID 39 is 33.5 meters away at (-26.0, -21.1). A vehicle with ID 45 is 35.1 meters away at (-12.9, 32.6). A vehicle with ID 41 is 39.1 meters away at (-29.6, -25.6). A vehicle with ID 33 is 39.9 meters away at (-22.9, -32.7). A vehicle with ID 53 is 40.6 meters away at (-17.4, 36.7). A vehicle with ID 34 is 45.6 meters away at (-22.4, 39.8).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.95468116 -1.0994414 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 2.150993 -2.015272] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00790604 -0.02076464] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [  4.632178 -18.161737], 18.743152618408203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A pedestrian with ID 28 is 23.7 meters away at (-22.8, -6.5). A vehicle with ID 30 is 25.2 meters away at (-20.3, -15.0). A pedestrian with ID 8 is 26.4 meters away at (24.9, 8.7). A vehicle with ID 45 is 34.4 meters away at (-13.9, 31.5). A vehicle with ID 39 is 34.9 meters away at (-26.9, -22.2). A vehicle with ID 53 is 40.1 meters away at (-18.5, 35.5). A vehicle with ID 41 is 40.6 meters away at (-30.5, -26.8). A vehicle with ID 33 is 41.4 meters away at (-24.0, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.4, 38.6). A vehicle with ID 49 is 47.2 meters away at (-35.0, -31.6).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.5772434 -1.4591213] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 0.38284165 -2.750041  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00408518 0.02088841] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A pedestrian with ID 28 is 25.9 meters away at (-24.3, -9.1). A vehicle with ID 30 is 29.6 meters away at (-21.5, -20.3). A vehicle with ID 45 is 34.3 meters away at (-13.9, 31.3). A vehicle with ID 39 is 35.0 meters away at (-27.0, -22.3). A vehicle with ID 53 is 40.0 meters away at (-18.5, 35.4). A vehicle with ID 41 is 40.7 meters away at (-30.5, -26.8). A vehicle with ID 33 is 41.5 meters away at (-24.1, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.5, 38.5). A vehicle with ID 49 is 47.2 meters away at (-35.0, -31.7). A vehicle with ID 35 is 48.3 meters away at (-28.5, -39.0).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.7386957 -1.1891422] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.4339857 -2.6734195] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 34 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A unknown object with ID 13 is 27.9 meters away at (11.3, 25.6). A pedestrian with ID 28 is 28.0 meters away at (-25.6, -11.4). A vehicle with ID 45 is 34.3 meters away at (-13.9, 31.3). A vehicle with ID 39 is 35.1 meters away at (-27.0, -22.4). A vehicle with ID 30 is 36.8 meters away at (-25.7, -26.3). A vehicle with ID 38 is 38.6 meters away at (36.4, -12.7). A vehicle with ID 53 is 40.0 meters away at (-18.5, 35.4). A vehicle with ID 41 is 40.7 meters away at (-30.5, -26.9). A vehicle with ID 33 is 41.5 meters away at (-24.1, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.5, 38.5).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.43560582 -0.85780936] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.6387823 -3.3693602] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.6744547  4.03934  ] m/s.The vehicle with ID 53 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [11.267967 25.564692], 27.93779754638672 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 1.6) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A unknown object with ID 3 is 75.8 meters away at (52.3, -54.9).

The unknown object with ID 3 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 [ 52.266823 -54.90261 ], 75.80314636230469 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -1.9) m/s. Its current heading (yaw) is -2.59

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -3.8) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A unknown object with ID 4 is 13.9 meters away at (-10.4, -9.1).

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

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-10.430895  -9.115644], 13.852744102478027 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A unknown object with ID 4 is 6.4 meters away at (-6.1, -1.8). A unknown object with ID 6 is 21.7 meters away at (-6.3, 20.8).

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

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.137779  -1.8477993], 6.409890651702881 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 63 is 9.5 meters away at (-3.6, 8.8). A vehicle with ID 116 is 10.0 meters away at (-6.4, -7.7). A vehicle with ID 118 is 11.6 meters away at (-11.1, -3.4). A unknown object with ID 122 is 12.8 meters away at (-7.6, 10.3). A unknown object with ID 123 is 14.6 meters away at (-14.6, 0.1). A unknown object with ID 124 is 16.3 meters away at (-16.2, 1.8). A vehicle with ID 127 is 17.9 meters away at (-10.2, 14.7). A unknown object with ID 126 is 18.3 meters away at (-18.0, 3.1). A vehicle with ID 114 is 19.8 meters away at (17.2, -9.8). A unknown object with ID 52 is 20.3 meters away at (-19.8, 4.6).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 127 is 4.4 meters away at (2.6, 3.5). A unknown object with ID 122 is 5.3 meters away at (5.2, -0.9). A unknown object with ID 52 is 9.5 meters away at (-6.9, -6.5). A unknown object with ID 124 is 9.9 meters away at (-3.4, -9.4). A unknown object with ID 123 is 11.2 meters away at (-1.8, -11.1). A vehicle with ID 118 is 14.6 meters away at (1.6, -14.5). A vehicle with ID 116 is 19.9 meters away at (6.4, -18.8). A unknown object with ID 87 is 20.8 meters away at (-19.5, 7.3). A vehicle with ID 107 is 22.8 meters away at (-1.5, 22.8). A unknown object with ID 69 is 34.7 meters away at (-30.8, 16.2).

The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 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 unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 24.675999 -28.742418]
 [ 24.650087 -33.6948  ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 6.4) m/s. Its current heading (yaw) is 2.37

The most relevant actors are: A unknown object with ID 96 is 9.1 meters away at (-6.5, -6.4). A unknown object with ID 40 is 9.6 meters away at (-7.8, -5.7). A vehicle with ID 107 is 15.6 meters away at (11.4, 10.6). A vehicle with ID 113 is 17.6 meters away at (-9.4, 14.9). A vehicle with ID 127 is 17.9 meters away at (15.6, -8.7). A unknown object with ID 69 is 18.3 meters away at (-17.8, 3.9). A unknown object with ID 103 is 18.7 meters away at (-18.3, 4.1). A unknown object with ID 89 is 19.4 meters away at (-18.4, 6.1). A pedestrian with ID 58 is 20.8 meters away at (-20.1, 5.1). A unknown object with ID 122 is 22.4 meters away at (18.2, -13.1).

The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00072572 0.02150667] m/s.The unknown object with ID 122 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 [-6.470272 -6.385069], 9.090298652648926 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 6.1) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 113 is 4.8 meters away at (4.1, 2.5). A unknown object with ID 89 is 8.0 meters away at (-4.9, -6.4). A unknown object with ID 74 is 8.8 meters away at (-8.0, -3.5). A unknown object with ID 69 is 9.5 meters away at (-4.3, -8.5). A pedestrian with ID 58 is 9.9 meters away at (-6.6, -7.3). A pedestrian with ID 75 is 9.9 meters away at (-9.7, -2.1). A pedestrian with ID 70 is 10.0 meters away at (-8.6, -5.0). A unknown object with ID 73 is 11.1 meters away at (-11.1, -0.5). A pedestrian with ID 88 is 11.4 meters away at (-11.1, -2.8). A pedestrian with ID 50 is 13.5 meters away at (-13.5, -0.7).

The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00898457  0.00910595] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00075077 -0.00140387] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00127185 -0.0009808 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [0.00621421 0.00065602] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0042556  -0.00302867] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 0.1) m/s. Its current heading (yaw) is 3.13

The most relevant actors are: A unknown object with ID 24 is 16.9 meters away at (15.6, -6.4). A vehicle with ID 26 is 27.6 meters away at (16.4, -22.2). A vehicle with ID 27 is 29.7 meters away at (19.4, -22.5). A unknown object with ID 25 is 29.8 meters away at (29.1, 6.5). A vehicle with ID 31 is 30.6 meters away at (12.2, -28.1). A vehicle with ID 28 is 33.5 meters away at (25.3, -22.0). A vehicle with ID 41 is 35.5 meters away at (-34.1, -9.9). A vehicle with ID 30 is 37.4 meters away at (30.0, -22.3). A vehicle with ID 29 is 39.3 meters away at (38.5, 8.2). A vehicle with ID 33 is 40.8 meters away at (19.1, -36.0).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [15.641438 -6.394914], 16.898210525512695 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A vehicle with ID 41 is 19.3 meters away at (-16.5, -10.1). A vehicle with ID 42 is 24.3 meters away at (-22.2, -9.9). A vehicle with ID 23 is 26.9 meters away at (-25.0, -9.9). A unknown object with ID 24 is 33.9 meters away at (33.2, -6.6). A vehicle with ID 26 is 40.8 meters away at (34.0, -22.5). A vehicle with ID 27 is 43.4 meters away at (37.0, -22.8). A pedestrian with ID 18 is 45.6 meters away at (-44.3, 10.8). A vehicle with ID 28 is 48.3 meters away at (42.9, -22.2). A vehicle with ID 30 is 52.7 meters away at (47.7, -22.5). A vehicle with ID 29 is 56.7 meters away at (56.1, 7.9).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.10228009 0.18631539] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 41 is 10.2 meters away at (1.7, -10.1). A vehicle with ID 42 is 10.8 meters away at (-4.0, -10.0). A vehicle with ID 23 is 12.1 meters away at (-6.7, -10.0). A vehicle with ID 7 is 43.2 meters away at (-42.2, -9.6). A vehicle with ID 6 is 48.8 meters away at (-47.8, -9.7). A unknown object with ID 24 is 52.0 meters away at (51.6, -6.7). A vehicle with ID 3 is 57.0 meters away at (-56.1, -9.8). A vehicle with ID 2 is 60.7 meters away at (-59.9, -10.1). A vehicle with ID 28 is 65.2 meters away at (61.3, -22.3). A vehicle with ID 30 is 69.8 meters away at (66.0, -22.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A vehicle with ID 23 is 15.3 meters away at (11.6, -10.0). A vehicle with ID 42 is 17.6 meters away at (14.4, -10.1). A vehicle with ID 41 is 22.5 meters away at (20.1, -10.1). A vehicle with ID 7 is 25.7 meters away at (-23.8, -9.7). A vehicle with ID 6 is 31.0 meters away at (-29.4, -9.7). A pedestrian with ID 5 is 36.6 meters away at (-34.9, -11.3). A vehicle with ID 3 is 39.1 meters away at (-37.8, -10.0). A vehicle with ID 2 is 42.7 meters away at (-41.4, -10.1). A vehicle with ID 1 is 61.9 meters away at (-60.3, 14.1).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.46415135 -0.8343793 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.4) m/s. Its current heading (yaw) is 1.59

The most relevant actors are: A unknown object with ID 5 is 3.7 meters away at (-2.6, 2.6). A pedestrian with ID 7 is 17.5 meters away at (17.4, 2.1). A pedestrian with ID 9 is 18.5 meters away at (18.3, 2.1). A pedestrian with ID 10 is 19.2 meters away at (19.1, 2.1). A pedestrian with ID 6 is 32.5 meters away at (19.6, -25.9). A pedestrian with ID 8 is 33.2 meters away at (20.3, -26.2). A vehicle with ID 11 is 68.2 meters away at (-12.4, -67.1).

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 [-0.2031504 -1.0615939] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.1423316 -1.0401412] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.2233218 -1.031578 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.58375627 -1.1154509 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.5134769 -1.0702654] m/s.The vehicle with ID 11 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 [-2.5637338  2.6393118], 3.679497003555298 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.9) m/s. Its current heading (yaw) is 1.65

The most relevant actors are: A unknown object with ID 5 is 10.6 meters away at (-1.9, -10.4). A pedestrian with ID 7 is 22.0 meters away at (17.6, -13.1). A pedestrian with ID 9 is 22.8 meters away at (18.7, -13.0). A pedestrian with ID 10 is 23.6 meters away at (19.6, -13.0). A pedestrian with ID 6 is 45.8 meters away at (19.3, -41.6). A pedestrian with ID 8 is 46.4 meters away at (20.2, -41.8).

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 [-0.01033066 -1.0226021 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.07557952 -0.99766344] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.09145153 -1.0032368 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.39353576 -1.2218789 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.38981223 -1.1740972 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -1.9196099 -10.393393 ], 10.56917667388916 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 6.9) m/s. Its current heading (yaw) is 1.72

The most relevant actors are: A unknown object with ID 5 is 24.5 meters away at (-0.3, -24.5). A pedestrian with ID 7 is 34.9 meters away at (19.2, -29.2). A pedestrian with ID 9 is 35.4 meters away at (20.1, -29.1). A unknown object with ID 3 is 35.7 meters away at (-1.5, -35.7). A pedestrian with ID 10 is 36.0 meters away at (21.0, -29.2).

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 [-0.14028265 -1.0390761 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.11752206 -1.0047176 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.0538051 -1.0044031] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 6.6) m/s. Its current heading (yaw) is 1.79

The most relevant actors are: A unknown object with ID 5 is 37.8 meters away at (1.9, -37.8). A pedestrian with ID 7 is 49.5 meters away at (21.5, -44.6). A pedestrian with ID 9 is 49.7 meters away at (22.3, -44.5). A pedestrian with ID 10 is 50.2 meters away at (23.0, -44.7).

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 [-0.04288236 -1.0670345 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.06649552 -1.0571347 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.10032035 -1.0523845 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  1.9266443 -37.800846 ], 37.849910736083984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.8) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 31 is 7.6 meters away at (0.7, -7.5). A vehicle with ID 35 is 9.3 meters away at (-0.8, -9.2). A vehicle with ID 39 is 11.4 meters away at (-2.6, -11.1). A vehicle with ID 42 is 16.2 meters away at (8.4, -13.8). A vehicle with ID 45 is 17.1 meters away at (6.8, -15.7). A vehicle with ID 46 is 18.0 meters away at (-6.9, -16.7). A vehicle with ID 40 is 18.4 meters away at (5.2, -17.6). A vehicle with ID 26 is 19.3 meters away at (15.9, 10.9). A vehicle with ID 53 is 20.3 meters away at (-8.5, -18.5). A vehicle with ID 25 is 21.7 meters away at (17.4, 12.9).

The vehicle with ID 31 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 40 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.7) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 31 is 11.1 meters away at (-2.1, -10.9). A vehicle with ID 35 is 13.1 meters away at (-3.7, -12.6). A vehicle with ID 26 is 15.1 meters away at (13.1, 7.5). A vehicle with ID 39 is 15.5 meters away at (-5.4, -14.5). A vehicle with ID 25 is 17.5 meters away at (14.6, 9.6). A vehicle with ID 42 is 18.1 meters away at (5.6, -17.2). A vehicle with ID 45 is 19.5 meters away at (4.0, -19.1). A vehicle with ID 27 is 20.0 meters away at (16.4, 11.4). A vehicle with ID 33 is 20.6 meters away at (20.6, 1.1). A vehicle with ID 40 is 21.2 meters away at (2.5, -21.0).

The vehicle with ID 31 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.4) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 26 is 10.4 meters away at (9.8, 3.5). A vehicle with ID 25 is 12.6 meters away at (11.3, 5.6). A vehicle with ID 27 is 15.0 meters away at (13.1, 7.4). A vehicle with ID 31 is 15.9 meters away at (-5.4, -14.9). A vehicle with ID 33 is 17.5 meters away at (17.3, -2.9). A vehicle with ID 35 is 18.0 meters away at (-7.0, -16.6). A vehicle with ID 32 is 18.9 meters away at (18.9, -0.8). A vehicle with ID 39 is 20.4 meters away at (-8.7, -18.5). A vehicle with ID 42 is 21.3 meters away at (2.4, -21.1). A vehicle with ID 34 is 22.1 meters away at (21.9, 2.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.9) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 26 is 5.6 meters away at (5.4, -1.7). A vehicle with ID 25 is 6.8 meters away at (6.8, 0.3). A vehicle with ID 27 is 8.9 meters away at (8.7, 2.0). A vehicle with ID 33 is 15.2 meters away at (12.9, -8.2). A vehicle with ID 32 is 15.7 meters away at (14.5, -6.1). A vehicle with ID 34 is 17.7 meters away at (17.5, -2.4). A vehicle with ID 28 is 19.4 meters away at (15.8, 11.2). A vehicle with ID 36 is 20.8 meters away at (20.8, 1.3). A vehicle with ID 31 is 22.5 meters away at (-9.8, -20.2). A vehicle with ID 29 is 24.2 meters away at (19.2, 14.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [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 34 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-3.2, -3.9) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 23 is 5.9 meters away at (-5.3, 2.7). A vehicle with ID 20 is 6.7 meters away at (6.7, 0.5). A vehicle with ID 24 is 8.1 meters away at (-0.5, 8.1). A vehicle with ID 25 is 10.0 meters away at (1.2, 9.9). A vehicle with ID 26 is 10.7 meters away at (9.7, 4.5). A vehicle with ID 22 is 11.4 meters away at (2.1, -11.2). A vehicle with ID 27 is 12.2 meters away at (2.7, 11.9). A vehicle with ID 28 is 13.0 meters away at (11.3, 6.4). A vehicle with ID 33 is 14.4 meters away at (4.2, 13.7). A vehicle with ID 21 is 14.6 meters away at (-1.3, -14.6).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.5) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 22 is 8.8 meters away at (7.5, -4.7). A vehicle with ID 21 is 9.1 meters away at (4.1, -8.1). A vehicle with ID 23 is 9.1 meters away at (0.2, 9.1). A vehicle with ID 20 is 13.9 meters away at (12.0, 7.0). A vehicle with ID 24 is 15.4 meters away at (4.9, 14.6). A vehicle with ID 25 is 17.7 meters away at (6.6, 16.4). A cyclist with ID 64 is 18.0 meters away at (2.1, -17.8). A vehicle with ID 26 is 18.6 meters away at (15.0, 11.0). A vehicle with ID 1 is 18.8 meters away at (11.2, 15.1). A vehicle with ID 39 is 19.8 meters away at (-4.6, 19.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [-2.3063264 -1.5108739] 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 [-3.1908004 -3.784165 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.3) m/s. Its current heading (yaw) is -2.34

The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.7, -5.1). A vehicle with ID 22 is 10.2 meters away at (10.1, -1.7). A vehicle with ID 23 is 12.4 meters away at (2.7, 12.1). A vehicle with ID 1 is 14.0 meters away at (8.2, 11.4). A cyclist with ID 64 is 15.4 meters away at (0.6, -15.4). A vehicle with ID 20 is 17.7 meters away at (14.6, 10.0). A vehicle with ID 24 is 19.1 meters away at (7.5, 17.6). A vehicle with ID 25 is 21.5 meters away at (9.3, 19.4). A vehicle with ID 39 is 22.3 meters away at (-2.0, 22.2). A vehicle with ID 26 is 22.5 meters away at (17.6, 14.0).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.1168618 -2.519449 ] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [-1.4769164  -0.18028955] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34

The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.8, -5.0). A vehicle with ID 22 is 10.3 meters away at (10.2, -1.5). A vehicle with ID 1 is 10.4 meters away at (5.9, 8.6). A vehicle with ID 23 is 12.6 meters away at (2.9, 12.3). A cyclist with ID 64 is 15.1 meters away at (0.3, -15.1). A vehicle with ID 13 is 17.2 meters away at (-8.9, -14.7). A vehicle with ID 20 is 17.9 meters away at (14.8, 10.2). A vehicle with ID 24 is 19.3 meters away at (7.7, 17.7). A vehicle with ID 25 is 21.6 meters away at (9.4, 19.5). A vehicle with ID 39 is 22.5 meters away at (-1.8, 22.4).

The vehicle with ID 21 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 1 is traveling at a (x, y) velocity of [-0.67141825 -0.8099897 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.03220956 0.00496251] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.18247314 5.3630676 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 7.1) m/s. Its current heading (yaw) is 2.30

The most relevant actors are: A vehicle with ID 87 is 7.0 meters away at (-6.4, -2.8). A pedestrian with ID 79 is 9.8 meters away at (2.0, 9.6). A pedestrian with ID 61 is 10.6 meters away at (10.5, -1.3). A vehicle with ID 91 is 12.9 meters away at (-12.9, -0.3). A vehicle with ID 58 is 15.2 meters away at (8.0, -12.9). A pedestrian with ID 86 is 16.2 meters away at (-14.6, -7.0). A vehicle with ID 75 is 16.4 meters away at (6.1, -15.2). A pedestrian with ID 59 is 18.1 meters away at (16.0, -8.5). A vehicle with ID 82 is 18.6 meters away at (-11.8, -14.4). A vehicle with ID 95 is 18.9 meters away at (-16.3, 9.7).

The vehicle with ID 87 is traveling at a (x, y) velocity of [ 4.2911124 -5.236256 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.1317683  1.3829744] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.8541312  1.115527 ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 4.039283  -5.0744166] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.7817972 -0.3615774] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 6.2377996 -4.591151 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.10255749  0.09304986] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.8708547 -4.9662848] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 3.6509595 -5.0705795] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 8.3) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 93 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 103 is 11.3 meters away at (-4.5, -10.4). A vehicle with ID 113 is 13.2 meters away at (-13.1, 1.0). A pedestrian with ID 79 is 14.0 meters away at (13.7, -2.8). A unknown object with ID 24 is 16.2 meters away at (-13.3, -9.2). A vehicle with ID 95 is 16.7 meters away at (4.1, -16.2). A pedestrian with ID 100 is 18.5 meters away at (-18.5, 1.5). A vehicle with ID 101 is 20.5 meters away at (-9.1, 18.3). A pedestrian with ID 86 is 22.5 meters away at (-1.2, -22.5). A unknown object with ID 46 is 22.8 meters away at (-16.2, -16.0).

The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [ 3.4179678 -4.56879  ] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.63305   -4.9604807] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.15766609 1.4888899 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 3.833235 -5.022387] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.7445515 -1.0342859] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.0090927  -0.00314655] m/s.The unknown object with ID 46 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 (-6.6, 8.7) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 101 is 3.8 meters away at (3.7, 1.2). A vehicle with ID 36 is 5.7 meters away at (0.6, 5.7). A vehicle with ID 29 is 9.5 meters away at (-7.6, -5.7). A vehicle with ID 23 is 10.9 meters away at (-3.1, 10.5). A vehicle with ID 51 is 16.6 meters away at (-6.7, 15.2). A vehicle with ID 93 is 17.3 meters away at (13.0, -11.5). A pedestrian with ID 100 is 18.5 meters away at (-3.9, -18.0). A vehicle with ID 19 is 22.6 meters away at (-10.4, 20.1). A vehicle with ID 113 is 26.2 meters away at (6.6, -25.4). A vehicle with ID 16 is 28.7 meters away at (-13.8, 25.2).

The vehicle with ID 101 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 29 is traveling at a (x, y) velocity of [ 4.51098   -6.0936456] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.6942193 -1.0176008] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.1190066 -4.0940714] m/s.The vehicle with ID 16 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 (-6.0, 8.2) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A vehicle with ID 19 is 3.8 meters away at (2.0, 3.3). A vehicle with ID 51 is 5.8 meters away at (5.6, -1.6). A vehicle with ID 16 is 8.5 meters away at (-1.4, 8.4). A vehicle with ID 23 is 11.2 meters away at (9.2, -6.4). A vehicle with ID 15 is 13.3 meters away at (-4.4, 12.5). A vehicle with ID 36 is 17.0 meters away at (12.8, -11.1). A vehicle with ID 14 is 18.3 meters away at (-7.6, 16.7). A vehicle with ID 101 is 22.4 meters away at (16.0, -15.7). A pedestrian with ID 6 is 29.6 meters away at (-11.9, 27.1). A vehicle with ID 5 is 31.0 meters away at (18.3, -25.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 15 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00917908 0.0134107 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.1518793  9.267755 ] m/s.

There are active red lights at the following coordinates: [[-20.050964    5.8895445]
 [-22.539064    4.374382 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.5) m/s. Its current heading (yaw) is -1.86

The most relevant actors are: A unknown object with ID 59 is 12.1 meters away at (9.7, -7.3). A vehicle with ID 58 is 14.6 meters away at (-13.0, 6.6). A vehicle with ID 60 is 17.1 meters away at (-16.8, 3.3). A vehicle with ID 62 is 22.9 meters away at (-20.9, 9.5). A vehicle with ID 63 is 23.0 meters away at (21.3, -8.6). A pedestrian with ID 70 is 25.7 meters away at (-10.2, -23.7). A pedestrian with ID 69 is 26.0 meters away at (-9.6, -24.1). A vehicle with ID 26 is 28.8 meters away at (-11.2, -26.6). A vehicle with ID 64 is 30.5 meters away at (28.5, -11.0). A vehicle with ID 67 is 32.8 meters away at (-31.8, 8.3).

The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.04800511  0.00776966] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.17693435 -0.10054319] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -6.5438013 -11.261671 ]
 [ -5.3649178  -9.392067 ]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.710746 -7.252631], 12.120200157165527 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.9) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A pedestrian with ID 70 is 12.1 meters away at (-6.6, -10.1). A unknown object with ID 59 is 14.7 meters away at (13.3, 6.4). A vehicle with ID 26 is 15.0 meters away at (-7.5, -13.0). A vehicle with ID 60 is 21.4 meters away at (-13.2, 16.8). A vehicle with ID 58 is 22.2 meters away at (-9.3, 20.1). A vehicle with ID 17 is 23.5 meters away at (-10.3, -21.1). A vehicle with ID 63 is 25.4 meters away at (25.0, 4.9). A vehicle with ID 56 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 55 is 28.1 meters away at (-4.4, -27.8). A vehicle with ID 62 is 28.6 meters away at (-17.1, 23.0).

The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.07175986  0.02208643] m/s.The unknown object with ID 59 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 60 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -6.5438013 -11.261671 ]
 [ -5.3649178  -9.392067 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -6.8) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 26 is 3.5 meters away at (-3.4, 0.8). A pedestrian with ID 70 is 4.3 meters away at (-2.4, 3.6). A vehicle with ID 17 is 9.5 meters away at (-6.2, -7.3). A vehicle with ID 56 is 11.7 meters away at (1.4, -11.6). A unknown object with ID 55 is 14.0 meters away at (-0.3, -14.0). A vehicle with ID 38 is 22.2 meters away at (-21.3, -6.3). A vehicle with ID 81 is 24.3 meters away at (-17.1, -17.2). A vehicle with ID 28 is 26.5 meters away at (-11.5, -23.9). A vehicle with ID 45 is 26.6 meters away at (-21.4, -15.8). A vehicle with ID 57 is 31.2 meters away at (-4.4, -30.8).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.05906776 -0.05851626] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 81 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 45 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.3) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A unknown object with ID 55 is 4.3 meters away at (4.2, -0.7). A vehicle with ID 17 is 6.1 meters away at (-1.8, 5.8). A vehicle with ID 56 is 6.2 meters away at (5.9, 1.7). A vehicle with ID 28 is 12.8 meters away at (-7.1, -10.7). A vehicle with ID 81 is 13.2 meters away at (-12.5, -4.1). A vehicle with ID 26 is 14.1 meters away at (1.1, 14.1). A vehicle with ID 45 is 17.1 meters away at (-16.9, -2.6). A vehicle with ID 57 is 17.6 meters away at (0.1, -17.6). A vehicle with ID 38 is 18.1 meters away at (-16.8, 7.0). A vehicle with ID 27 is 18.2 meters away at (-8.4, -16.1).

The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 27 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 [ 4.209276   -0.72837067], 4.271829605102539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 0.5) m/s. Its current heading (yaw) is 3.01

The most relevant actors are: A vehicle with ID 35 is 3.8 meters away at (-0.8, 3.7). A vehicle with ID 17 is 8.2 meters away at (-6.2, 5.5). A vehicle with ID 37 is 9.5 meters away at (-8.5, -4.2). A vehicle with ID 34 is 14.1 meters away at (-12.0, 7.4). A vehicle with ID 36 is 14.6 meters away at (-14.5, -2.1). A unknown object with ID 46 is 19.5 meters away at (-7.0, -18.2). A vehicle with ID 15 is 20.6 meters away at (-18.3, 9.5). A unknown object with ID 47 is 22.5 meters away at (-8.1, -21.0). A vehicle with ID 16 is 26.6 meters away at (-23.9, 11.7). A pedestrian with ID 48 is 32.8 meters away at (32.4, -5.1).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 1.2040622  -0.48121756] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.8) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.4, 3.1). A vehicle with ID 34 is 6.1 meters away at (-3.4, 5.0). A vehicle with ID 37 is 6.6 meters away at (0.1, -6.6). A vehicle with ID 36 is 7.3 meters away at (-5.8, -4.5). A vehicle with ID 35 is 7.9 meters away at (7.7, 1.4). A vehicle with ID 15 is 12.0 meters away at (-9.6, 7.2). A vehicle with ID 16 is 17.8 meters away at (-15.1, 9.3). A unknown object with ID 31 is 20.5 meters away at (10.7, -17.5). A unknown object with ID 46 is 20.7 meters away at (1.6, -20.6). A vehicle with ID 33 is 24.8 meters away at (-21.8, 11.8).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 1.9) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A vehicle with ID 15 is 3.4 meters away at (0.4, 3.4). A vehicle with ID 34 is 6.8 meters away at (6.7, 1.3). A vehicle with ID 16 is 7.3 meters away at (-4.8, 5.5). A vehicle with ID 36 is 9.3 meters away at (4.3, -8.2). A vehicle with ID 17 is 12.7 meters away at (12.6, -0.7). A vehicle with ID 33 is 14.0 meters away at (-11.5, 8.0). A vehicle with ID 37 is 14.6 meters away at (10.3, -10.4). A vehicle with ID 35 is 18.2 meters away at (18.1, -2.5). A vehicle with ID 41 is 29.9 meters away at (-29.5, -5.2). A unknown object with ID 19 is 32.0 meters away at (-31.9, -2.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.7) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A vehicle with ID 16 is 4.8 meters away at (4.4, 1.9). A vehicle with ID 33 is 4.9 meters away at (-2.2, 4.4). A vehicle with ID 15 is 9.7 meters away at (9.7, -0.3). A vehicle with ID 34 is 16.3 meters away at (16.1, -2.4). A vehicle with ID 36 is 18.1 meters away at (13.7, -11.9). A vehicle with ID 41 is 21.9 meters away at (-20.1, -8.8). A vehicle with ID 17 is 22.4 meters away at (22.0, -4.4). A vehicle with ID 37 is 24.2 meters away at (19.7, -14.0). A vehicle with ID 35 is 28.2 meters away at (27.6, -6.2). A pedestrian with ID 4 is 40.0 meters away at (-39.9, 2.0).

The vehicle with ID 16 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.23433729 -1.0348247 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 3.3) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 104 is 7.3 meters away at (3.9, -6.1). A cyclist with ID 106 is 8.7 meters away at (8.0, 3.3). A cyclist with ID 107 is 9.1 meters away at (6.9, 5.9). A vehicle with ID 118 is 12.1 meters away at (-11.3, -4.4). A pedestrian with ID 110 is 14.9 meters away at (-10.2, 10.8). A vehicle with ID 11 is 15.8 meters away at (13.0, -9.0). A vehicle with ID 102 is 18.5 meters away at (17.0, -7.3). A vehicle with ID 108 is 21.3 meters away at (11.9, -17.6). A vehicle with ID 112 is 25.9 meters away at (6.5, 25.1). A vehicle with ID 117 is 26.6 meters away at (-26.6, -2.2).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 106 is traveling at a (x, y) velocity of [ 3.095623  -2.4103868] m/s.The cyclist with ID 107 is traveling at a (x, y) velocity of [ 1.640941  -1.2184389] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [ 8.797759 -4.859711] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.00118675 -0.08510783] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.417376   5.4168777] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [ 9.689691  -7.2699285] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-18.907576  15.305769]
 [-16.442131  13.661346]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 2.5) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A pedestrian with ID 110 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 117 is 14.3 meters away at (-12.0, -7.8). A vehicle with ID 11 is 15.2 meters away at (14.3, -5.3). A vehicle with ID 92 is 16.5 meters away at (-16.4, -2.2). A vehicle with ID 123 is 17.7 meters away at (-15.2, 9.1). A vehicle with ID 122 is 19.9 meters away at (-19.2, -5.4). A vehicle with ID 104 is 22.0 meters away at (18.5, -11.8). A vehicle with ID 126 is 24.1 meters away at (-21.4, 11.2). A vehicle with ID 125 is 24.9 meters away at (-24.6, -3.5). A pedestrian with ID 114 is 25.3 meters away at (-6.7, -24.4).

The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.02832119 -0.01605114] m/s.The vehicle with ID 117 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 [-7.1124787  3.4046376] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 8.460083  -3.3017976] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5613794 1.178332 ] m/s.

There are active red lights at the following coordinates: [[-18.907576  15.305769]
 [-16.442131  13.661346]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.9) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 123 is 3.9 meters away at (0.6, 3.8). A vehicle with ID 126 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 72 is 8.4 meters away at (-6.8, -4.9). A vehicle with ID 122 is 11.1 meters away at (-3.3, -10.6). A vehicle with ID 125 is 12.3 meters away at (-8.6, -8.8). A vehicle with ID 117 is 13.7 meters away at (4.0, -13.1). A vehicle with ID 11 is 16.8 meters away at (15.9, -5.4). A pedestrian with ID 110 is 20.2 meters away at (20.2, -0.1). A vehicle with ID 92 is 22.8 meters away at (17.5, -14.7). A pedestrian with ID 114 is 29.2 meters away at (10.3, -27.3).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 8.3441305 -2.8819616] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2425075  2.3665755] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.0148009  -0.00200624] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 9.035499  -3.8932936] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5638116 1.1750898] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.2) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 46 is 7.4 meters away at (4.9, -5.5). A vehicle with ID 126 is 12.1 meters away at (12.1, -0.2). A vehicle with ID 66 is 13.7 meters away at (-12.2, -6.2). A vehicle with ID 125 is 17.5 meters away at (9.0, -15.0). A vehicle with ID 123 is 18.5 meters away at (18.4, -2.3). A vehicle with ID 11 is 19.6 meters away at (18.4, -6.7). A vehicle with ID 35 is 20.6 meters away at (-20.0, -5.3). A vehicle with ID 122 is 22.2 meters away at (14.5, -16.8). A vehicle with ID 78 is 25.5 meters away at (-25.3, -3.2). A vehicle with ID 117 is 29.0 meters away at (21.7, -19.2).

The vehicle with ID 46 is traveling at a (x, y) velocity of [ 7.3463483 -2.336705 ] m/s.The vehicle with ID 126 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 [1.4184244 0.4403599] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.21813    2.7578087] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 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 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-133.15108    54.72058 ]
 [-132.95409    54.679058]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.2) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A pedestrian with ID 18 is 12.1 meters away at (9.8, 7.2). A unknown object with ID 11 is 37.1 meters away at (13.5, 34.6). A vehicle with ID 23 is 54.5 meters away at (-25.8, -48.0). A vehicle with ID 29 is 57.0 meters away at (-46.5, 33.0). A vehicle with ID 24 is 57.3 meters away at (-40.2, 40.8). A pedestrian with ID 26 is 60.7 meters away at (-30.4, -52.6). A pedestrian with ID 25 is 61.4 meters away at (-33.7, -51.3). A pedestrian with ID 27 is 62.1 meters away at (-34.4, -51.7). A pedestrian with ID 28 is 72.0 meters away at (-54.8, -46.7). A pedestrian with ID 15 is 77.6 meters away at (6.4, 77.3).

The pedestrian with ID 18 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 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3948799  -0.17088988] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.294229 -0.529874] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.283788   -0.47028697] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.8736685  -0.93919176] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.38137946 0.77883714] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A pedestrian with ID 18 is 12.7 meters away at (10.3, 7.4). A vehicle with ID 23 is 54.2 meters away at (-25.3, -47.9). A vehicle with ID 29 is 56.6 meters away at (-45.9, 33.1). A vehicle with ID 24 is 57.0 meters away at (-39.6, 41.0). A pedestrian with ID 25 is 60.3 meters away at (-30.6, -52.0). A pedestrian with ID 27 is 61.3 meters away at (-31.3, -52.7).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0700239 0.0236649] m/s.The vehicle with ID 23 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 24 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 [ 1.2838975  -0.20235758] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.3503577 -0.2549453] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -0.7) m/s. Its current heading (yaw) is -2.85

The most relevant actors are: A vehicle with ID 23 is 52.3 meters away at (-22.8, -47.1). A vehicle with ID 29 is 54.9 meters away at (-43.1, 34.1). A pedestrian with ID 16 is 55.2 meters away at (-21.3, -50.9). A vehicle with ID 24 is 55.7 meters away at (-36.9, 41.8). A unknown object with ID 14 is 61.7 meters away at (-40.1, -46.8). A pedestrian with ID 6 is 67.4 meters away at (-47.4, -47.9).

The vehicle with ID 23 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 pedestrian with ID 16 is traveling at a (x, y) velocity of [1.1980903 0.0664243] m/s.The vehicle with ID 24 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 pedestrian with ID 6 is traveling at a (x, y) velocity of [0.9038677  0.19614431] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -2.8) m/s. Its current heading (yaw) is -2.35

The most relevant actors are: A vehicle with ID 23 is 47.0 meters away at (-17.2, -43.8). A pedestrian with ID 3 is 50.1 meters away at (-17.1, -47.1). A pedestrian with ID 16 is 50.3 meters away at (-13.4, -48.4). A pedestrian with ID 4 is 51.0 meters away at (-17.5, -47.9). A vehicle with ID 29 is 52.9 meters away at (-37.6, 37.2). A vehicle with ID 24 is 54.9 meters away at (-31.3, 45.1). A pedestrian with ID 6 is 60.1 meters away at (-39.5, -45.3). A pedestrian with ID 7 is 76.0 meters away at (-37.3, -66.3). A pedestrian with ID 20 is 77.6 meters away at (-47.0, -61.8).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.2165141  0.36502495] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.2022752  -0.73773086] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.14143    0.50724846] m/s.The vehicle with ID 29 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 6 is traveling at a (x, y) velocity of [0.9760094  0.22153284] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.3416998  -0.25721127] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.40354335 -1.1891555 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 40 is 5.3 meters away at (3.2, -4.3). A vehicle with ID 44 is 6.7 meters away at (-1.7, 6.5). A vehicle with ID 43 is 6.9 meters away at (5.4, 4.4). A vehicle with ID 41 is 10.0 meters away at (8.1, -5.9). A vehicle with ID 39 is 15.2 meters away at (13.3, -7.4). A vehicle with ID 45 is 17.4 meters away at (17.4, 0.6). A vehicle with ID 49 is 17.7 meters away at (-17.5, 2.4). A pedestrian with ID 19 is 18.6 meters away at (18.3, 3.4). A pedestrian with ID 55 is 19.0 meters away at (15.6, -10.8). A pedestrian with ID 56 is 19.5 meters away at (15.7, -11.7).

The vehicle with ID 40 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 43 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 [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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3722464  -0.58608705] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0077536  0.2554642] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9484324  0.2867179] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -1.6) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 78 is 3.5 meters away at (-0.6, 3.4). A vehicle with ID 41 is 3.7 meters away at (-2.8, -2.4). A vehicle with ID 39 is 4.5 meters away at (2.3, -3.9). A pedestrian with ID 55 is 7.3 meters away at (2.6, -6.8). A vehicle with ID 45 is 7.5 meters away at (6.3, 4.1). A vehicle with ID 40 is 7.8 meters away at (-7.7, -0.8). A pedestrian with ID 56 is 8.1 meters away at (2.7, -7.6). A vehicle with ID 43 is 9.7 meters away at (-5.6, 7.9). A pedestrian with ID 19 is 11.4 meters away at (9.7, 5.9). A vehicle with ID 44 is 16.1 meters away at (-12.6, 10.0).

The vehicle with ID 78 is traveling at a (x, y) velocity of [-9.275019   2.7687137] 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 [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0456161   0.28912324] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0958798   0.30172428] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1853217 -0.5389934] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -1.1) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 75 is 5.4 meters away at (4.9, 2.1). A vehicle with ID 39 is 5.8 meters away at (-5.6, -1.3). A vehicle with ID 45 is 7.0 meters away at (-1.6, 6.8). A pedestrian with ID 55 is 8.0 meters away at (-7.2, -3.5). A pedestrian with ID 56 is 8.3 meters away at (-7.1, -4.3). A pedestrian with ID 19 is 8.7 meters away at (4.2, 7.6). A vehicle with ID 41 is 10.8 meters away at (-10.8, 0.3). A vehicle with ID 40 is 15.9 meters away at (-15.8, 2.0). A vehicle with ID 43 is 17.2 meters away at (-13.6, 10.5). A vehicle with ID 6 is 19.9 meters away at (19.0, 5.9).

The vehicle with ID 75 is traveling at a (x, y) velocity of [-5.1899295  0.9354085] m/s.The vehicle with ID 39 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.92636955  0.2574377 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9092526  0.2694687] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3968792  -0.63112384] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.59747124 -1.6587602 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A pedestrian with ID 19 is 8.5 meters away at (3.5, 7.7). A vehicle with ID 39 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 45 is 9.2 meters away at (-4.7, 7.9). A pedestrian with ID 55 is 12.3 meters away at (-12.1, -1.8). A pedestrian with ID 56 is 12.4 meters away at (-12.2, -2.6). A vehicle with ID 75 is 12.5 meters away at (-10.8, 6.3). A vehicle with ID 41 is 14.1 meters away at (-14.0, 1.4). A vehicle with ID 6 is 15.8 meters away at (15.0, 5.0). A vehicle with ID 3 is 17.2 meters away at (5.1, -16.4). A vehicle with ID 40 is 19.2 meters away at (-19.0, 3.1).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.2544726 -0.4668628] m/s.The vehicle with ID 39 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.9521353  0.3082399] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9240795   0.35980192] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-7.3985167  2.0897143] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.10069893 -0.28772545] m/s.The vehicle with ID 3 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.

Instruction: Continue straight.

(The closest actor is a pedestrian at [3.5346413 7.6873784], 8.46105670928955 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.9) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A unknown object with ID 26 is 3.6 meters away at (-1.1, 3.4). A unknown object with ID 24 is 5.4 meters away at (5.3, -1.0). A vehicle with ID 25 is 5.5 meters away at (5.4, 1.1). A unknown object with ID 27 is 5.8 meters away at (2.2, 5.4). A unknown object with ID 1 is 6.9 meters away at (5.1, 4.6). A unknown object with ID 31 is 7.1 meters away at (-0.4, 7.0). A unknown object with ID 36 is 9.5 meters away at (-6.1, 7.3). A unknown object with ID 32 is 9.5 meters away at (8.2, 5.0). A pedestrian with ID 56 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 38 is 10.6 meters away at (-4.4, 9.7).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.39575675 -0.38557032] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.0617571  3.4065318], 3.5681629180908203 meters away.)


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 2.42

The most relevant actors are: A unknown object with ID 26 is 2.9 meters away at (-0.2, 2.9). A unknown object with ID 27 is 5.7 meters away at (3.1, 4.8). A vehicle with ID 25 is 6.1 meters away at (6.1, 0.6). A unknown object with ID 24 is 6.4 meters away at (6.2, -1.5). A unknown object with ID 31 is 6.5 meters away at (0.5, 6.5). A unknown object with ID 1 is 7.3 meters away at (6.0, 4.1). A unknown object with ID 36 is 8.5 meters away at (-5.2, 6.7). A unknown object with ID 38 is 9.8 meters away at (-3.5, 9.2). A unknown object with ID 32 is 10.1 meters away at (9.1, 4.4). A pedestrian with ID 56 is 10.8 meters away at (-10.2, -3.5).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 [-0.76378053 -1.0039566 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.19954872  2.8647466 ], 2.8716881275177 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.7). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.6). A unknown object with ID 1 is 7.3 meters away at (6.1, 3.9). A unknown object with ID 36 is 8.4 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.7 meters away at (-3.4, 9.1). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.6). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.7). A unknown object with ID 1 is 7.3 meters away at (6.2, 3.9). A unknown object with ID 36 is 8.3 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.6 meters away at (-3.4, 9.0). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.06716585  2.7242508 ], 2.725078582763672 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.1) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A vehicle with ID 71 is 4.9 meters away at (-1.1, 4.8). A vehicle with ID 73 is 5.8 meters away at (-5.8, -0.2). A vehicle with ID 75 is 9.4 meters away at (-9.0, -2.8). A vehicle with ID 78 is 13.2 meters away at (5.2, -12.1). A pedestrian with ID 74 is 13.8 meters away at (4.3, 13.1). A vehicle with ID 77 is 14.1 meters away at (-8.6, 11.1). A vehicle with ID 80 is 15.3 meters away at (-15.0, 2.8). A pedestrian with ID 72 is 16.7 meters away at (11.8, 11.9). A vehicle with ID 82 is 19.5 meters away at (-12.7, -14.8). A vehicle with ID 85 is 19.9 meters away at (-13.3, 14.8).

The vehicle with ID 71 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 75 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 [3.879142 4.943833] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.08427274 0.01414921] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.42452088 0.87886155] m/s.The vehicle with ID 82 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.1) m/s. Its current heading (yaw) is 2.48

The most relevant actors are: A vehicle with ID 77 is 4.9 meters away at (0.7, 4.8). A vehicle with ID 80 is 6.6 meters away at (-5.6, -3.5). A vehicle with ID 73 is 7.4 meters away at (3.5, -6.5). A vehicle with ID 71 is 8.4 meters away at (8.2, -1.5). A vehicle with ID 75 is 9.1 meters away at (0.4, -9.1). A vehicle with ID 85 is 9.3 meters away at (-3.9, 8.5). A vehicle with ID 89 is 12.7 meters away at (-12.5, 2.3). A vehicle with ID 92 is 16.2 meters away at (-9.4, 13.2). A vehicle with ID 86 is 18.6 meters away at (-9.1, -16.2). A vehicle with ID 84 is 20.7 meters away at (-5.8, -19.9).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 92 is 4.1 meters away at (2.3, 3.4). A vehicle with ID 89 is 7.4 meters away at (-0.9, -7.3). A vehicle with ID 85 is 7.8 meters away at (7.7, -1.3). A vehicle with ID 33 is 9.4 meters away at (-3.9, 8.6). A vehicle with ID 70 is 10.2 meters away at (-10.2, -0.0). A vehicle with ID 77 is 13.3 meters away at (12.3, -4.9). A vehicle with ID 80 is 14.6 meters away at (6.0, -13.3). A vehicle with ID 34 is 15.0 meters away at (-8.3, 12.5). A vehicle with ID 88 is 17.9 meters away at (-16.9, 5.8). A vehicle with ID 29 is 21.4 meters away at (-13.3, 16.8).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 1.1367302 -0.8075612] 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 (-7.1, 5.8) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 34 is 5.2 meters away at (5.0, 1.5). A vehicle with ID 29 is 5.7 meters away at (0.1, 5.7). A vehicle with ID 88 is 6.7 meters away at (-2.3, -6.3). A vehicle with ID 33 is 9.7 meters away at (9.4, -2.4). A vehicle with ID 27 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 10.5 meters away at (-4.4, 9.5). A vehicle with ID 70 is 11.5 meters away at (3.2, -11.1). A vehicle with ID 21 is 16.1 meters away at (-9.2, 13.2). A vehicle with ID 22 is 17.2 meters away at (-16.2, 5.8). A vehicle with ID 28 is 17.3 meters away at (-15.1, -8.5).

The vehicle with ID 34 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 88 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 27 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 70 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 22 is traveling at a (x, y) velocity of [ 1.9444281 -1.6359525] m/s.The vehicle with ID 28 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, 0.9) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A pedestrian with ID 5 is 22.2 meters away at (-8.8, -20.4). A vehicle with ID 34 is 42.7 meters away at (42.6, -2.9).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00834774 0.0268566 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.60

The most relevant actors are: A unknown object with ID 15 is 13.8 meters away at (4.6, 12.9). A pedestrian with ID 9 is 25.8 meters away at (-23.1, 11.6). A unknown object with ID 13 is 33.9 meters away at (-22.5, 25.4). A vehicle with ID 34 is 42.8 meters away at (42.6, -3.3).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00718357 -0.00266505] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 4.649693 12.945666], 13.755359649658203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 1.2) m/s. Its current heading (yaw) is 1.57

The most relevant actors are: A pedestrian with ID 18 is 23.9 meters away at (-8.8, -22.2). A vehicle with ID 1 is 42.9 meters away at (42.7, -4.5). A unknown object with ID 10 is 53.3 meters away at (52.1, -11.4).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00780853 0.01151086] m/s.The vehicle with ID 1 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.1) m/s. Its current heading (yaw) is 1.13

The most relevant actors are: A pedestrian with ID 18 is 27.0 meters away at (-9.3, -25.3). A pedestrian with ID 14 is 27.6 meters away at (-9.8, -25.8). A vehicle with ID 1 is 42.7 meters away at (42.1, -7.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01796155 0.00450156] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.0174306  0.01930356] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.