The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.6) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 30 is 17.3 meters away at (-17.2, -1.8). A cyclist with ID 7 is 19.1 meters away at (12.3, 14.5). A vehicle with ID 29 is 24.4 meters away at (-4.8, 24.0). A cyclist with ID 5 is 29.8 meters away at (22.5, 19.4). A vehicle with ID 2 is 30.6 meters away at (30.2, 4.9). A vehicle with ID 4 is 36.7 meters away at (36.7, 0.7). A vehicle with ID 9 is 43.2 meters away at (-25.5, -34.8). A vehicle with ID 1 is 43.9 meters away at (-24.8, 36.2). A vehicle with ID 3 is 44.7 meters away at (44.6, -3.5). A unknown object with ID 14 is 53.6 meters away at (31.3, 43.5).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0976512 -1.3019562] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 1.4990337 -3.5348008] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.5416912  -0.96432143] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-1.8019919   0.89144325] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.6656622  1.0395812] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.5304095   0.31178564] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.034361 8.366831] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.529759  -2.1638577] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.4581608   0.26789746] m/s.The unknown object with ID 14 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, 5.4) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 36 is 30.8 meters away at (-30.4, 5.0). A vehicle with ID 37 is 31.3 meters away at (-31.2, 2.4). A vehicle with ID 42 is 34.9 meters away at (-34.7, -4.1). A vehicle with ID 21 is 37.0 meters away at (-36.2, -7.6). A vehicle with ID 25 is 45.7 meters away at (-42.1, -18.0). A vehicle with ID 22 is 46.8 meters away at (22.0, -41.3). A vehicle with ID 39 is 53.2 meters away at (-40.3, 34.7). A vehicle with ID 29 is 59.8 meters away at (59.2, -8.8).

The vehicle with ID 36 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-63.573856  54.18728 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 36 is 19.4 meters away at (-18.8, -4.9). A vehicle with ID 37 is 20.9 meters away at (-19.5, -7.5). A vehicle with ID 16 is 34.1 meters away at (-26.6, -21.3). A vehicle with ID 39 is 37.9 meters away at (-28.7, 24.7). A vehicle with ID 22 is 61.3 meters away at (33.7, -51.2). A vehicle with ID 3 is 61.4 meters away at (-32.4, 52.2).

The vehicle with ID 36 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 [-0.39982116  0.30122083] m/s.The vehicle with ID 16 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 22 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 36 is 16.0 meters away at (-9.3, -13.0). A vehicle with ID 37 is 18.6 meters away at (-10.4, -15.4). A vehicle with ID 39 is 25.3 meters away at (-19.1, 16.5). A unknown object with ID 31 is 40.6 meters away at (17.4, -36.7). A vehicle with ID 3 is 49.5 meters away at (-22.8, 43.9). A pedestrian with ID 7 is 64.6 meters away at (-43.6, 47.7). A vehicle with ID 19 is 66.6 meters away at (-52.5, 40.9). A vehicle with ID 15 is 69.9 meters away at (-53.1, 45.5). A vehicle with ID 22 is 73.3 meters away at (43.2, -59.3).

The vehicle with ID 36 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 39 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 vehicle with ID 3 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 [ 0.65677166 -0.804829  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.7944272 -1.4311479] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 2.1) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 39 is 16.8 meters away at (-12.7, 11.0). A vehicle with ID 36 is 18.7 meters away at (-2.9, -18.5). A vehicle with ID 37 is 21.1 meters away at (-4.1, -20.7). A vehicle with ID 2 is 28.6 meters away at (-7.0, -27.7). A vehicle with ID 4 is 32.3 meters away at (-8.8, -31.1). A vehicle with ID 6 is 36.5 meters away at (-10.9, -34.9). A vehicle with ID 10 is 40.3 meters away at (-13.1, -38.1). A vehicle with ID 3 is 41.7 meters away at (-16.3, 38.4). A vehicle with ID 9 is 42.8 meters away at (-22.4, 36.5). A vehicle with ID 11 is 43.9 meters away at (-14.8, -41.3).

The vehicle with ID 39 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 37 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 9 is traveling at a (x, y) velocity of [-3.3451116 -3.4311168] 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.0) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 1 is 3.7 meters away at (2.7, 2.5). A vehicle with ID 4 is 7.7 meters away at (6.4, -4.2). A vehicle with ID 88 is 9.0 meters away at (8.8, 1.8). A vehicle with ID 7 is 10.4 meters away at (-6.2, 8.3). A vehicle with ID 3 is 11.6 meters away at (-9.6, 6.5). A vehicle with ID 2 is 12.9 meters away at (12.1, -4.5). A pedestrian with ID 91 is 14.7 meters away at (12.6, 7.6). A pedestrian with ID 120 is 15.0 meters away at (14.3, 4.7). A vehicle with ID 106 is 15.1 meters away at (14.9, -2.5). A vehicle with ID 95 is 15.1 meters away at (-5.5, -14.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.4872642  1.7164682] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.36643642  0.25137487] m/s.The vehicle with ID 88 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 [-2.8584414  2.0906124] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.0839605  1.9866412] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.7199299   0.49371535] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.009671   0.6703929] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [ 1.0566036 -0.8336147] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.4) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 1 is 3.8 meters away at (1.9, 3.2). A vehicle with ID 4 is 11.0 meters away at (9.2, -6.0). A vehicle with ID 7 is 12.9 meters away at (-8.1, 10.1). A vehicle with ID 64 is 13.3 meters away at (-11.2, -7.1). A vehicle with ID 3 is 13.9 meters away at (-11.5, 7.9). A vehicle with ID 88 is 14.5 meters away at (14.3, -1.8). A vehicle with ID 2 is 15.0 meters away at (14.0, -5.5). A pedestrian with ID 91 is 16.8 meters away at (15.8, 5.7). A unknown object with ID 65 is 17.1 meters away at (-3.0, 16.8). A pedestrian with ID 96 is 17.1 meters away at (-9.0, -14.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.6761913  2.619441 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.261054   1.5439795] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.4218955  3.1699197] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 7.5097504 -4.7650604] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.342016   3.0141432] m/s.The vehicle with ID 88 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 [-3.0017812  2.156071 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1892854  0.8702373] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.01133561 0.00906642] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.8) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A vehicle with ID 1 is 4.0 meters away at (1.6, 3.6). A vehicle with ID 87 is 11.3 meters away at (-1.5, 11.2). A vehicle with ID 4 is 13.2 meters away at (11.0, -7.2). A vehicle with ID 30 is 14.1 meters away at (-12.5, -6.5). A vehicle with ID 2 is 14.2 meters away at (13.4, -4.6). A vehicle with ID 7 is 15.0 meters away at (-9.6, 11.4). A vehicle with ID 3 is 15.4 meters away at (-12.6, 8.8). A unknown object with ID 56 is 17.1 meters away at (11.7, 12.5). A unknown object with ID 40 is 17.4 meters away at (13.2, 11.3). A unknown object with ID 85 is 17.9 meters away at (14.9, 10.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.597962   3.2602887] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.6207695  2.4746914] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.8439384 -4.261763 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.0735555  3.6774452] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.9096737  3.4754307] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6280856  3.244533 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-11.205335  15.095552]
 [-13.530875  13.060773]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.6) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A vehicle with ID 1 is 4.7 meters away at (0.1, 4.7). A vehicle with ID 87 is 8.6 meters away at (6.3, 5.8). A vehicle with ID 2 is 10.6 meters away at (10.3, -2.6). A pedestrian with ID 101 is 12.5 meters away at (-0.7, 12.4). A vehicle with ID 4 is 14.1 meters away at (11.8, -7.8). A vehicle with ID 3 is 16.6 meters away at (-13.7, 9.3). A vehicle with ID 7 is 17.1 meters away at (-11.5, 12.6). A pedestrian with ID 23 is 19.6 meters away at (-9.9, -16.9). A pedestrian with ID 26 is 20.4 meters away at (-10.5, -17.5). A pedestrian with ID 18 is 22.6 meters away at (-1.7, -22.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.6214     3.2399166] m/s.The vehicle with ID 87 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 [-5.5530853  3.7406058] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [1.2436749  0.00864466] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.4228828  2.330271 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.2117767  2.7957122] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.6464252  3.1619844] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.1941139  0.9699603] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1706742   0.95694655] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.04679332  0.01028748] m/s.

There are active red lights at the following coordinates: [[-11.205335  15.095552]
 [-13.530875  13.060773]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.7) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A vehicle with ID 48 is 7.9 meters away at (1.5, 7.8). A vehicle with ID 49 is 13.2 meters away at (5.0, 12.2). A vehicle with ID 54 is 15.7 meters away at (1.7, -15.6). A vehicle with ID 52 is 15.8 meters away at (-15.8, -1.0). A vehicle with ID 53 is 16.8 meters away at (-11.5, -12.3). A vehicle with ID 26 is 18.2 meters away at (8.5, 16.2). A vehicle with ID 56 is 20.5 meters away at (-20.3, 2.8). A vehicle with ID 60 is 21.5 meters away at (7.1, -20.3). A vehicle with ID 55 is 23.1 meters away at (-21.8, -7.6). A vehicle with ID 59 is 24.8 meters away at (-1.6, -24.8).

The vehicle with ID 48 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 54 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 53 is traveling at a (x, y) velocity of [ 5.397719  -4.4939632] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.6) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 49 is 4.2 meters away at (-3.8, 1.7). A vehicle with ID 26 is 5.7 meters away at (-0.4, 5.6). A vehicle with ID 48 is 7.7 meters away at (-7.2, -2.6). A vehicle with ID 75 is 21.1 meters away at (20.1, -6.3). A vehicle with ID 54 is 27.1 meters away at (-7.1, -26.2). A vehicle with ID 52 is 27.2 meters away at (-24.6, -11.7). A vehicle with ID 60 is 30.9 meters away at (-1.7, -30.8). A vehicle with ID 85 is 32.8 meters away at (32.7, 2.6). A vehicle with ID 53 is 34.9 meters away at (-6.6, -34.3). A vehicle with ID 55 is 35.7 meters away at (-30.7, -18.2).

The vehicle with ID 49 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 85 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 [ 8.290266 -6.802399] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 26 is 10.4 meters away at (-9.2, -4.9). A vehicle with ID 49 is 15.6 meters away at (-12.6, -9.1). A vehicle with ID 75 is 20.4 meters away at (11.3, -17.0). A vehicle with ID 48 is 20.9 meters away at (-16.0, -13.4). A vehicle with ID 28 is 28.1 meters away at (-23.5, 15.3). A vehicle with ID 51 is 28.3 meters away at (18.3, 21.6). A vehicle with ID 7 is 29.3 meters away at (-1.4, 29.3). A unknown object with ID 1 is 33.8 meters away at (15.4, 30.1). A vehicle with ID 93 is 34.8 meters away at (22.3, 26.7). A vehicle with ID 45 is 39.9 meters away at (35.7, -17.8).

The vehicle with ID 26 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 75 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 28 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 [0.41901836 0.50927925] m/s.The vehicle with ID 7 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 93 is traveling at a (x, y) velocity of [0.4505364 0.5479929] m/s.The vehicle with ID 45 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 (3.7, 4.3) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 51 is 18.0 meters away at (11.6, 13.8). A unknown object with ID 1 is 21.8 meters away at (7.2, 20.5). A vehicle with ID 7 is 21.9 meters away at (-9.6, 19.7). A vehicle with ID 26 is 22.6 meters away at (-17.3, -14.5). A vehicle with ID 75 is 26.7 meters away at (3.2, -26.5). A vehicle with ID 49 is 27.9 meters away at (-20.7, -18.7). A vehicle with ID 28 is 32.1 meters away at (-31.6, 5.9). A vehicle with ID 48 is 33.4 meters away at (-24.1, -23.1). A vehicle with ID 47 is 37.5 meters away at (29.3, 23.4). A vehicle with ID 23 is 48.2 meters away at (22.8, 42.4).

The vehicle with ID 51 is traveling at a (x, y) velocity of [1.1866504 1.5104574] m/s.The unknown object with ID 1 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 26 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 49 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 4.291276  -2.3342006] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.5546236  1.3031504] 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, -5.9) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 20 is 27.5 meters away at (-3.5, -27.3). A pedestrian with ID 17 is 41.5 meters away at (-12.8, 39.5). A pedestrian with ID 18 is 41.8 meters away at (-14.0, 39.4). A vehicle with ID 19 is 47.4 meters away at (-2.1, 47.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0.57336557 9.596188  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.01545331 -1.0369215 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20537688 -1.0671637 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -6.3) m/s. Its current heading (yaw) is -1.62

The most relevant actors are: A vehicle with ID 20 is 4.0 meters away at (-2.4, 3.3). A pedestrian with ID 17 is 51.3 meters away at (-12.8, 49.6). A pedestrian with ID 14 is 51.4 meters away at (-13.8, 49.5). A pedestrian with ID 18 is 51.6 meters away at (-14.6, 49.4). A vehicle with ID 19 is 59.5 meters away at (-1.7, 59.5).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0.49685484 9.024489  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.30665204 -1.0619435 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.30729738 -1.0891143 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20891404 -1.0949125 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -7.3) m/s. Its current heading (yaw) is -1.64

The most relevant actors are: A unknown object with ID 8 is 28.3 meters away at (-10.1, 26.5). A vehicle with ID 20 is 34.3 meters away at (-2.1, 34.2). A pedestrian with ID 17 is 62.4 meters away at (-12.3, 61.2). A pedestrian with ID 18 is 62.7 meters away at (-14.6, 61.0).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.2269123  7.840321 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.15864633 -1.0485938 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.4643238 -1.1130234] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.114289  26.45454 ], 28.32210350036621 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -7.7) m/s. Its current heading (yaw) is -1.68

The most relevant actors are: A unknown object with ID 8 is 42.8 meters away at (-8.8, 41.8). A vehicle with ID 20 is 62.4 meters away at (-4.3, 62.3).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0298793  5.158572 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.840543 41.845444], 42.76910400390625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.2) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.7, 5.5). A vehicle with ID 31 is 7.8 meters away at (-2.9, 7.2). A vehicle with ID 38 is 12.1 meters away at (-8.1, 9.0). A vehicle with ID 41 is 13.4 meters away at (-13.3, 1.1). A vehicle with ID 37 is 17.1 meters away at (-16.3, 5.1). A vehicle with ID 48 is 17.4 meters away at (-13.7, 10.6). A vehicle with ID 33 is 17.8 meters away at (6.6, -16.5). A vehicle with ID 43 is 19.3 meters away at (-2.5, -19.1). A vehicle with ID 46 is 21.6 meters away at (5.2, -21.0). A vehicle with ID 55 is 23.0 meters away at (-19.4, 12.2).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 5.9775715 -1.9798112] m/s.The vehicle with ID 48 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 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 -0.30

The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.4, 5.6). A vehicle with ID 31 is 8.0 meters away at (-3.2, 7.4). A vehicle with ID 37 is 9.2 meters away at (-8.8, 2.7). A vehicle with ID 38 is 12.4 meters away at (-8.4, 9.1). A vehicle with ID 41 is 13.7 meters away at (-13.6, 1.3). A vehicle with ID 33 is 17.5 meters away at (6.3, -16.3). A vehicle with ID 48 is 17.8 meters away at (-14.1, 10.8). A vehicle with ID 43 is 19.3 meters away at (-2.9, -19.1). A vehicle with ID 60 is 20.1 meters away at (12.8, -15.5). A vehicle with ID 46 is 21.4 meters away at (4.9, -20.9).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.8114566  -0.59880555] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 43 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 [0.24839117 0.71274745] m/s.The vehicle 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 (0.0, -0.0) m/s. Its current heading (yaw) is -0.30

The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.3, 5.7). A vehicle with ID 37 is 7.5 meters away at (-7.2, 2.1). A vehicle with ID 31 is 8.1 meters away at (-3.2, 7.4). A vehicle with ID 38 is 12.5 meters away at (-8.5, 9.1). A vehicle with ID 41 is 13.8 meters away at (-13.8, 1.3). A vehicle with ID 33 is 17.4 meters away at (6.2, -16.3). A vehicle with ID 48 is 17.8 meters away at (-14.2, 10.8). A vehicle with ID 60 is 19.1 meters away at (13.5, -13.6). A vehicle with ID 43 is 19.6 meters away at (-3.1, -19.3). A vehicle with ID 46 is 21.4 meters away at (4.8, -20.9).

The vehicle with ID 29 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [1.0900784 2.3741074] m/s.The vehicle with ID 43 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 29 is 6.2 meters away at (0.8, 6.1). A vehicle with ID 37 is 8.7 meters away at (-8.3, 2.5). A vehicle with ID 31 is 9.2 meters away at (-4.7, 7.9). A unknown object with ID 18 is 11.1 meters away at (5.0, 9.9). A vehicle with ID 38 is 13.9 meters away at (-10.0, 9.6). A vehicle with ID 41 is 15.4 meters away at (-15.3, 1.8). A vehicle with ID 33 is 16.5 meters away at (4.7, -15.9). A vehicle with ID 48 is 19.3 meters away at (-15.6, 11.3). A vehicle with ID 43 is 19.5 meters away at (-4.4, -18.9). A vehicle with ID 60 is 19.8 meters away at (18.3, -7.4).

The vehicle with ID 29 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 [ 0.85712165 -0.31893384] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 43 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 [5.804056  1.4482394] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.2) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A vehicle with ID 66 is 8.4 meters away at (-7.4, 3.9). A vehicle with ID 62 is 8.5 meters away at (-6.9, -4.9). A vehicle with ID 75 is 10.4 meters away at (-7.1, -7.6). A vehicle with ID 8 is 12.4 meters away at (-1.1, 12.3). A vehicle with ID 77 is 12.5 meters away at (-7.0, -10.3). A vehicle with ID 16 is 13.0 meters away at (0.0, -13.0). A vehicle with ID 61 is 15.1 meters away at (-7.2, -13.3). A vehicle with ID 81 is 17.4 meters away at (-6.7, -16.1). A vehicle with ID 82 is 19.9 meters away at (-6.8, -18.6). A vehicle with ID 80 is 21.3 meters away at (-20.7, -5.1).

The vehicle with ID 66 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.65627295 -3.7266438 ] m/s.The vehicle with ID 77 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 [ 0.05998435 -3.345539  ] m/s.The vehicle with ID 61 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 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [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, -2.9) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A vehicle with ID 62 is 7.3 meters away at (-7.2, 1.2). A vehicle with ID 75 is 7.5 meters away at (-7.4, -1.5). A vehicle with ID 77 is 8.4 meters away at (-7.3, -4.2). A vehicle with ID 61 is 10.3 meters away at (-7.5, -7.1). A vehicle with ID 8 is 11.3 meters away at (-0.4, 11.2). A vehicle with ID 81 is 12.1 meters away at (-7.0, -9.9). A vehicle with ID 66 is 12.7 meters away at (-7.7, 10.0). A vehicle with ID 16 is 14.3 meters away at (-0.2, -14.3). A vehicle with ID 82 is 14.4 meters away at (-7.2, -12.5). A vehicle with ID 83 is 16.9 meters away at (-7.5, -15.1).

The vehicle with ID 62 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.17437129 -3.0321724 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.13926473 -3.7721815 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -2.9) m/s. Its current heading (yaw) is -1.61

The most relevant actors are: A vehicle with ID 77 is 7.5 meters away at (-7.4, 1.2). A vehicle with ID 61 is 7.7 meters away at (-7.5, -1.7). A vehicle with ID 81 is 8.4 meters away at (-7.1, -4.5). A vehicle with ID 75 is 8.4 meters away at (-7.5, 3.9). A vehicle with ID 62 is 9.8 meters away at (-7.2, 6.6). A vehicle with ID 82 is 10.2 meters away at (-7.3, -7.0). A vehicle with ID 8 is 11.2 meters away at (-0.2, 11.2). A vehicle with ID 83 is 12.3 meters away at (-7.6, -9.6). A vehicle with ID 58 is 14.4 meters away at (-7.3, -12.3). A vehicle with ID 16 is 16.1 meters away at (0.1, -16.1).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.12247144 -2.6545155 ] m/s.The vehicle with ID 83 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 16 is traveling at a (x, y) velocity of [ 0.20696771 -3.887858  ] 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, -4.2) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A vehicle with ID 82 is 7.2 meters away at (-7.2, 0.3). A vehicle with ID 81 is 7.4 meters away at (-6.9, 2.8). A vehicle with ID 83 is 7.9 meters away at (-7.5, -2.3). A vehicle with ID 58 is 8.7 meters away at (-7.2, -5.0). A vehicle with ID 61 is 9.3 meters away at (-7.4, 5.6). A vehicle with ID 60 is 11.0 meters away at (-7.8, -7.8). A vehicle with ID 77 is 11.2 meters away at (-7.2, 8.5). A vehicle with ID 8 is 12.8 meters away at (0.2, 12.8). A vehicle with ID 86 is 13.0 meters away at (-7.7, -10.4). A unknown object with ID 53 is 13.1 meters away at (11.8, -5.7).

The vehicle with ID 82 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 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 8 is traveling at a (x, y) velocity of [ 0.1765899 -3.7030306] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 9.3) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A unknown object with ID 24 is 8.8 meters away at (-8.8, 0.8). A unknown object with ID 25 is 47.3 meters away at (-37.4, 28.9). A vehicle with ID 4 is 59.3 meters away at (-51.2, 29.8). A unknown object with ID 15 is 67.9 meters away at (-50.4, 45.4).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.757125    0.77936363], 8.791736602783203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 9.2) m/s. Its current heading (yaw) is 2.09

The most relevant actors are: A unknown object with ID 24 is 17.9 meters away at (1.8, -17.8). A unknown object with ID 6 is 19.1 meters away at (-18.9, -2.3). A unknown object with ID 13 is 24.7 meters away at (-16.8, 18.1). A unknown object with ID 25 is 28.7 meters away at (-26.8, 10.4). A vehicle with ID 5 is 32.6 meters away at (17.8, 27.3). A unknown object with ID 11 is 39.3 meters away at (-32.9, 21.5). A unknown object with ID 1 is 40.5 meters away at (-7.9, -39.7). A vehicle with ID 4 is 42.2 meters away at (-40.7, 11.3).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  1.821989 -17.765476], 17.858661651611328 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 9.4) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A unknown object with ID 13 is 6.2 meters away at (-6.2, -0.5). A unknown object with ID 25 is 18.2 meters away at (-16.2, -8.2). A unknown object with ID 14 is 20.5 meters away at (-20.3, -3.1). A unknown object with ID 17 is 20.9 meters away at (-20.8, -1.7). A unknown object with ID 8 is 21.8 meters away at (-21.8, 1.4). A unknown object with ID 6 is 22.4 meters away at (-8.3, -20.8). A unknown object with ID 11 is 22.5 meters away at (-22.3, 2.9). A vehicle with ID 5 is 29.7 meters away at (28.3, 8.8). A vehicle with ID 4 is 30.9 meters away at (-30.1, -7.3). A pedestrian with ID 7 is 32.3 meters away at (-1.4, -32.3).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 9.4) m/s. Its current heading (yaw) is 2.09

The most relevant actors are: A unknown object with ID 11 is 19.5 meters away at (-11.6, -15.7). A unknown object with ID 8 is 20.4 meters away at (-11.1, -17.2). A unknown object with ID 17 is 22.8 meters away at (-10.1, -20.4). A unknown object with ID 14 is 23.8 meters away at (-9.6, -21.7). A unknown object with ID 25 is 27.4 meters away at (-5.5, -26.9). A vehicle with ID 4 is 32.3 meters away at (-19.3, -25.8). A vehicle with ID 5 is 40.3 meters away at (39.0, -9.8). A pedestrian with ID 7 is 52.1 meters away at (9.4, -51.2).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [ 0.0100007  -0.01551647] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.4) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 73 is 4.9 meters away at (-1.9, 4.5). A vehicle with ID 76 is 8.8 meters away at (7.8, 4.1). A vehicle with ID 80 is 9.2 meters away at (-2.3, 8.9). A pedestrian with ID 87 is 10.6 meters away at (-10.1, -3.0). A pedestrian with ID 89 is 11.9 meters away at (-11.3, -3.9). A pedestrian with ID 90 is 11.9 meters away at (-11.8, -2.1). A pedestrian with ID 94 is 13.8 meters away at (-13.7, -1.8). A pedestrian with ID 91 is 14.1 meters away at (-14.1, 0.8). A pedestrian with ID 78 is 16.3 meters away at (-16.3, 0.2). A pedestrian with ID 79 is 17.4 meters away at (-17.4, -0.4).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-8.20852    3.3594248] m/s.The vehicle with ID 76 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 87 is traveling at a (x, y) velocity of [ 1.1090646 -0.5367955] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 1.0912001 -0.6081501] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.111975   -0.64793664] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.1530094  -0.57118183] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.01690701  0.00561969] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.9435952  -0.23184167] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.75608265 -0.01239073] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 0.8) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A pedestrian with ID 87 is 6.7 meters away at (-2.2, -6.3). A pedestrian with ID 90 is 6.8 meters away at (-4.0, -5.6). A vehicle with ID 80 is 7.4 meters away at (3.3, 6.6). A pedestrian with ID 94 is 7.8 meters away at (-5.8, -5.2). A pedestrian with ID 89 is 8.0 meters away at (-3.7, -7.1). A pedestrian with ID 91 is 8.6 meters away at (-8.5, -1.5). A pedestrian with ID 78 is 9.3 meters away at (-8.9, -2.9). A pedestrian with ID 79 is 10.4 meters away at (-10.1, -2.5). A pedestrian with ID 77 is 11.1 meters away at (-10.7, -3.2). A vehicle with ID 76 is 13.6 meters away at (13.5, 1.8).

The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 1.110028  -0.4787047] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.0534518 -0.5128301] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.0972937  -0.53905237] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9498755  -0.34875423] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.00025104  0.01701024] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.8316017 -0.2014823] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.798191   -0.04083119] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.87554485 0.05410964] m/s.The vehicle with ID 76 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 (-2.4, 0.3) m/s. Its current heading (yaw) is 3.00

The most relevant actors are: A pedestrian with ID 91 is 4.8 meters away at (-4.0, -2.7). A pedestrian with ID 78 is 6.0 meters away at (-4.4, -4.2). A pedestrian with ID 79 is 6.5 meters away at (-5.4, -3.7). A pedestrian with ID 77 is 7.0 meters away at (-5.5, -4.4). A pedestrian with ID 94 is 7.5 meters away at (1.0, -7.5). A pedestrian with ID 90 is 8.3 meters away at (2.7, -7.8). A vehicle with ID 80 is 9.4 meters away at (7.8, 5.3). A vehicle with ID 76 is 18.0 meters away at (18.0, 0.4). A vehicle with ID 106 is 18.5 meters away at (18.0, -4.4). A pedestrian with ID 75 is 20.0 meters away at (0.3, 20.0).

The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.01213707 0.00114188] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.03866928  0.00070767] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.00489989 -0.01551257] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.01362579 -0.00740949] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.1193575 -0.5137091] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.1310612  -0.49921936] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [-9.603279   4.6679196] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [0.02446555 0.01131617] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -1.0) m/s. Its current heading (yaw) is -2.88

The most relevant actors are: A pedestrian with ID 91 is 3.2 meters away at (2.2, -2.3). A pedestrian with ID 79 is 3.6 meters away at (1.0, -3.4). A pedestrian with ID 77 is 4.1 meters away at (0.8, -4.0). A pedestrian with ID 78 is 4.3 meters away at (1.7, -4.0). A vehicle with ID 106 is 6.9 meters away at (4.8, 5.0). A vehicle with ID 81 is 14.3 meters away at (-13.9, -3.2). A vehicle with ID 80 is 14.9 meters away at (13.7, 5.7). A cyclist with ID 10 is 16.8 meters away at (-16.7, -1.3). A vehicle with ID 88 is 20.4 meters away at (-11.3, 16.9). A pedestrian with ID 75 is 21.4 meters away at (6.7, 20.4).

The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00193875 -0.00497157] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.00815437 -0.00385308] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00993761 0.00503193] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.00838055 -0.00953384] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [-10.132007    4.4685016] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 0.01426911 -0.00040192] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.01866753 -0.01449134] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 30 is 9.7 meters away at (9.7, 0.6). A vehicle with ID 41 is 19.5 meters away at (-19.4, 2.4). A vehicle with ID 34 is 21.7 meters away at (-21.7, -0.5). A vehicle with ID 40 is 22.0 meters away at (19.0, 11.0). A vehicle with ID 49 is 25.5 meters away at (6.6, 24.6). A vehicle with ID 55 is 26.1 meters away at (11.5, -23.4). A vehicle with ID 53 is 28.2 meters away at (23.3, 16.0). A vehicle with ID 43 is 33.8 meters away at (-27.4, -19.8). A vehicle with ID 44 is 34.8 meters away at (-29.6, -18.2). A vehicle with ID 65 is 35.0 meters away at (27.9, 21.2).

The vehicle with ID 30 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 34 is traveling at a (x, y) velocity of [-1.4097725  1.2021583] m/s.The vehicle with ID 40 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 55 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 43 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 30 is 10.1 meters away at (10.1, 1.1). A vehicle with ID 41 is 19.3 meters away at (-19.1, 3.0). A vehicle with ID 40 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 34 is 23.0 meters away at (-23.0, 1.4). A vehicle with ID 32 is 24.0 meters away at (5.5, -23.3). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 43 is 33.1 meters away at (-26.9, -19.2). A vehicle with ID 44 is 34.1 meters away at (-29.2, -17.7).

The vehicle with ID 30 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 40 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 [-0.36998963  0.32323176] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.0885057  4.364648 ] m/s.The vehicle with ID 55 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 53 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 44 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 -2.27

The most relevant actors are: A pedestrian with ID 12 is 8.6 meters away at (-6.2, 6.0). A vehicle with ID 30 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 15.7 meters away at (-3.8, -15.2). A vehicle with ID 41 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 40 is 22.6 meters away at (19.5, 11.5). A vehicle with ID 34 is 23.2 meters away at (-23.1, 1.7). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 43 is 33.0 meters away at (-26.9, -19.2).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0925178  -0.69808847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.1466393  3.6202621] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 43 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 -2.27

The most relevant actors are: A pedestrian with ID 26 is 8.7 meters away at (-6.2, 6.1). A vehicle with ID 30 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 14.2 meters away at (-11.0, -9.0). A vehicle with ID 41 is 19.2 meters away at (-19.0, 3.1). A vehicle with ID 17 is 21.0 meters away at (-16.8, -12.6). A vehicle with ID 40 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.2, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 29 is 34.0 meters away at (14.5, -30.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.4457597   0.44850123] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-3.0047693  2.5951893] 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 [ 9.475568 -8.158004] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 29 is traveling at a (x, y) velocity of [-5.3148484  4.566025 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.7) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 28 is 27.0 meters away at (13.7, -23.2). A pedestrian with ID 8 is 31.1 meters away at (-30.0, 8.5). A pedestrian with ID 13 is 31.7 meters away at (-30.3, 9.1). A unknown object with ID 27 is 37.0 meters away at (19.9, 31.1). A vehicle with ID 30 is 37.9 meters away at (27.8, -25.8). A vehicle with ID 29 is 38.1 meters away at (11.2, -36.4). A vehicle with ID 31 is 58.5 meters away at (57.1, 12.7). A vehicle with ID 33 is 63.9 meters away at (63.2, 9.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00372849 0.00408002] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.0054998  0.00183498] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.5) m/s. Its current heading (yaw) is -0.18

The most relevant actors are: A vehicle with ID 28 is 24.1 meters away at (10.0, -21.9). A vehicle with ID 30 is 34.3 meters away at (24.0, -24.5). A pedestrian with ID 8 is 35.1 meters away at (-33.6, 10.1). A pedestrian with ID 13 is 35.6 meters away at (-34.0, 10.6). A vehicle with ID 29 is 35.8 meters away at (7.3, -35.0). A pedestrian with ID 14 is 41.3 meters away at (-37.5, 17.4). A vehicle with ID 11 is 47.3 meters away at (41.6, 22.5). A vehicle with ID 19 is 51.3 meters away at (47.9, 18.4). A vehicle with ID 31 is 55.4 meters away at (53.6, 13.8). A vehicle with ID 4 is 58.0 meters away at (56.8, 11.8).

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 pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00307477  0.04012671] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0551126  0.030911 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00660897  0.05580434] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 1.5) m/s. Its current heading (yaw) is 0.32

The most relevant actors are: A vehicle with ID 28 is 22.6 meters away at (2.1, -22.5). A vehicle with ID 30 is 29.9 meters away at (16.2, -25.1). A vehicle with ID 29 is 35.7 meters away at (-0.4, -35.7). A unknown object with ID 17 is 45.8 meters away at (44.8, 9.3). A vehicle with ID 31 is 47.8 meters away at (45.9, 13.2). A vehicle with ID 4 is 50.3 meters away at (49.0, 11.4). A vehicle with ID 33 is 52.8 meters away at (51.8, 10.1). A vehicle with ID 24 is 68.0 meters away at (67.9, -4.3). A vehicle with ID 25 is 72.7 meters away at (72.3, -7.2). A vehicle with ID 26 is 77.8 meters away at (77.1, -10.2).

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.The unknown object with ID 17 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 4 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 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.2) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 28 is 27.8 meters away at (-5.3, -27.3). A vehicle with ID 30 is 31.1 meters away at (8.8, -29.8). A unknown object with ID 6 is 36.2 meters away at (35.5, 7.1). A vehicle with ID 31 is 39.4 meters away at (38.5, 8.4). A vehicle with ID 4 is 42.2 meters away at (41.6, 6.7). A vehicle with ID 33 is 44.8 meters away at (44.5, 5.2). A vehicle with ID 24 is 61.2 meters away at (60.5, -9.0). A vehicle with ID 25 is 66.0 meters away at (64.9, -12.0). A unknown object with ID 18 is 69.9 meters away at (-45.5, 53.1). A vehicle with ID 26 is 71.3 meters away at (69.7, -15.0).

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 unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 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 18 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -1.6) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A unknown object with ID 77 is 4.5 meters away at (-2.9, -3.5). A unknown object with ID 75 is 4.5 meters away at (-4.1, -2.0). A vehicle with ID 81 is 5.0 meters away at (1.2, -4.8). A unknown object with ID 78 is 6.2 meters away at (-3.7, -5.0). A vehicle with ID 85 is 6.9 meters away at (3.9, 5.7). A unknown object with ID 73 is 7.3 meters away at (-7.2, -0.9). A vehicle with ID 79 is 11.4 meters away at (-1.8, 11.2). A unknown object with ID 26 is 13.6 meters away at (-13.5, 1.0). A vehicle with ID 87 is 14.0 meters away at (13.7, 2.6). A vehicle with ID 74 is 14.4 meters away at (12.7, 6.9).

The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 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 [-2.0268877  0.5198805] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-0.8752618   0.17838018] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.8938472 -3.4632514], 4.513143062591553 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.0) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 87 is 7.1 meters away at (-0.6, 7.0). A vehicle with ID 81 is 9.8 meters away at (-9.6, -1.6). A vehicle with ID 90 is 10.1 meters away at (9.2, 4.2). A vehicle with ID 74 is 10.4 meters away at (1.7, 10.3). A pedestrian with ID 51 is 13.5 meters away at (6.6, -11.8). A unknown object with ID 77 is 14.0 meters away at (-14.0, -0.2). A vehicle with ID 85 is 15.1 meters away at (-11.0, 10.3). A unknown object with ID 75 is 15.2 meters away at (-15.1, 1.3). A vehicle with ID 22 is 15.2 meters away at (12.6, -8.4). A pedestrian with ID 66 is 16.2 meters away at (9.7, -12.9).

The vehicle with ID 87 is traveling at a (x, y) velocity of [-1.9356403  0.4969328] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.3465998   0.24905972] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.02055262 -0.0205433 ] m/s.The unknown object with ID 77 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 [-1.9062973   0.49590227] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.01226193 -0.01280143] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 22 is 4.7 meters away at (0.5, -4.7). A vehicle with ID 86 is 6.6 meters away at (3.4, 5.7). A pedestrian with ID 66 is 9.5 meters away at (-2.4, -9.1). A pedestrian with ID 51 is 9.9 meters away at (-5.6, -8.1). A vehicle with ID 90 is 10.9 meters away at (-6.3, 8.9). A pedestrian with ID 69 is 11.7 meters away at (4.0, -10.9). A vehicle with ID 83 is 11.9 meters away at (11.0, 4.8). A pedestrian with ID 70 is 12.0 meters away at (4.9, -10.9). A pedestrian with ID 94 is 12.0 meters away at (5.6, -10.6). A pedestrian with ID 49 is 12.9 meters away at (5.6, -11.6).

The vehicle with ID 22 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 [-1.7465626  0.4417371] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.01105659 -0.0260221 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.02762373 -0.03552353] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.7512082   0.36958653] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.00900603 -0.00960977] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-0.91824156  0.35633823] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00730402 -0.05400257] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.05470068 -0.06596949] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00688814 -0.01898074] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 80 is 6.5 meters away at (3.6, 5.4). A pedestrian with ID 55 is 9.8 meters away at (-6.2, -7.6). A pedestrian with ID 94 is 10.1 meters away at (-7.7, -6.6). A vehicle with ID 83 is 10.6 meters away at (-4.7, 9.5). A pedestrian with ID 70 is 10.9 meters away at (-8.5, -6.9). A pedestrian with ID 69 is 11.5 meters away at (-9.2, -6.8). A vehicle with ID 22 is 12.8 meters away at (-12.8, -0.6). A pedestrian with ID 43 is 15.8 meters away at (4.4, 15.2). A cyclist with ID 31 is 16.0 meters away at (4.5, 15.4). A pedestrian with ID 66 is 16.5 meters away at (-15.8, -5.0).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-0.6464116  0.4820878] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.00172132 -0.02053129] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02973359 -0.00223085] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-1.1762908   0.06415942] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.01504489 -0.05182247] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.05435193 -0.01683673] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.10274456 -0.25558913] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.06386419 -0.0705371 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.01829145 -0.01553376] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 40 is 3.2 meters away at (1.7, -2.7). A unknown object with ID 33 is 7.2 meters away at (7.2, -0.1). A vehicle with ID 41 is 8.0 meters away at (-8.0, 0.1). A vehicle with ID 47 is 10.8 meters away at (-3.6, -10.2). A pedestrian with ID 43 is 12.7 meters away at (12.4, -2.7). A vehicle with ID 48 is 12.8 meters away at (-11.9, -4.7). A pedestrian with ID 10 is 13.2 meters away at (12.5, -4.1). A pedestrian with ID 46 is 13.2 meters away at (12.7, -3.6). A vehicle with ID 51 is 16.4 meters away at (-7.2, -14.7). A vehicle with ID 55 is 19.0 meters away at (-16.2, -10.0).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.5690311 -0.8581078] m/s.The unknown object with ID 33 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.32367313 -0.19077316] m/s.The vehicle with ID 48 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 [6.7626568e-03 2.3228742e-05] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00079531 -0.01923447] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.5) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A unknown object with ID 33 is 5.9 meters away at (3.1, -5.0). A vehicle with ID 40 is 9.0 meters away at (-2.9, -8.5). A pedestrian with ID 43 is 11.3 meters away at (8.4, -7.5). A pedestrian with ID 10 is 12.1 meters away at (8.5, -8.6). A vehicle with ID 41 is 12.9 meters away at (-12.1, -4.7). A vehicle with ID 47 is 16.9 meters away at (-7.7, -15.0). A pedestrian with ID 5 is 18.1 meters away at (5.7, 17.1). A vehicle with ID 48 is 18.5 meters away at (-15.9, -9.5). A pedestrian with ID 8 is 19.0 meters away at (5.7, 18.1). A vehicle with ID 51 is 22.7 meters away at (-11.3, -19.6).

The unknown object 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 [-0.2779241  -0.42646298] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.04497587 -0.01714265] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.02502189 -0.00513647] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.7424722  0.88428146] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.8403784  0.85484034] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 3.1168814 -4.9539795], 5.852936267852783 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.1) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 5 is 10.7 meters away at (0.3, 10.7). A pedestrian with ID 8 is 11.8 meters away at (0.7, 11.8). A unknown object with ID 33 is 13.5 meters away at (-3.7, -13.0). A pedestrian with ID 43 is 15.7 meters away at (1.6, -15.6). A pedestrian with ID 10 is 16.7 meters away at (1.7, -16.6). A vehicle with ID 40 is 19.9 meters away at (-10.0, -17.2). A vehicle with ID 41 is 22.8 meters away at (-18.9, -12.8). A vehicle with ID 47 is 27.3 meters away at (-14.6, -23.1). A vehicle with ID 48 is 28.7 meters away at (-22.7, -17.6). A pedestrian with ID 52 is 29.7 meters away at (10.7, 27.7).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8788721 0.9429831] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.85043794 0.92460567] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.04489561 0.0012391 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.0496675 -0.0048839] m/s.The vehicle with ID 40 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 47 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 pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.82527673 -1.1876491 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.1) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A pedestrian with ID 5 is 6.7 meters away at (-4.4, 5.0). A pedestrian with ID 8 is 7.2 meters away at (-4.0, 6.0). A unknown object with ID 2 is 16.6 meters away at (6.0, -15.5). A pedestrian with ID 52 is 17.8 meters away at (2.8, 17.6). A pedestrian with ID 53 is 19.1 meters away at (2.3, 19.0). A pedestrian with ID 54 is 19.3 meters away at (1.5, 19.2). A unknown object with ID 33 is 23.0 meters away at (-10.1, -20.6). A pedestrian with ID 43 is 23.7 meters away at (-4.8, -23.2). A pedestrian with ID 10 is 24.8 meters away at (-4.6, -24.4). A vehicle with ID 40 is 30.0 meters away at (-16.6, -25.0).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.9828888 0.8988429] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.9335237  0.89464986] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.69838804 -1.3207556 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.6772891 -1.1575102] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.6642922 -1.2055792] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02980607 -0.00244588] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.01777447 -0.01287199] 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 [-4.4275455  5.00403  ], 6.681577682495117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 53 is 29.6 meters away at (25.1, -15.5). A vehicle with ID 11 is 34.8 meters away at (26.8, -22.2). A vehicle with ID 54 is 44.2 meters away at (32.0, -30.4). A vehicle with ID 45 is 62.3 meters away at (-49.8, 37.4). A cyclist with ID 44 is 72.5 meters away at (57.3, -44.3). A vehicle with ID 58 is 75.0 meters away at (55.8, -50.2).

The vehicle with ID 53 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 [-6.634686   5.6236205] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 5.8473434 -4.9814634] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [-0.05583003 -0.05649994] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.66789   -4.2466345] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A unknown object with ID 2 is 12.5 meters away at (-7.6, 10.0). A vehicle with ID 45 is 30.6 meters away at (-25.5, 16.9). A vehicle with ID 11 is 32.0 meters away at (24.7, -20.5). A vehicle with ID 20 is 35.4 meters away at (-7.5, -34.6). A vehicle with ID 53 is 44.8 meters away at (37.0, -25.3). A vehicle with ID 54 is 59.8 meters away at (44.1, -40.4). A vehicle with ID 51 is 69.3 meters away at (-54.8, -42.4). A unknown object with ID 27 is 73.0 meters away at (38.2, -62.2).

The unknown object with ID 2 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 [ 6.527933 -5.423178] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.984049  5.917545] m/s.The vehicle with ID 20 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 54 is traveling at a (x, y) velocity of [ 0.3851062  -0.24554121] m/s.The vehicle with ID 51 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-7.565174 10.004597], 12.542879104614258 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.4) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A unknown object with ID 2 is 2.9 meters away at (1.9, 2.2). A vehicle with ID 45 is 3.3 meters away at (-2.4, -2.3). A unknown object with ID 1 is 3.4 meters away at (0.6, 3.4). A vehicle with ID 11 is 26.4 meters away at (20.3, -16.9). A vehicle with ID 20 is 42.7 meters away at (2.1, -42.6). A vehicle with ID 53 is 57.3 meters away at (46.7, -33.1). A vehicle with ID 33 is 67.8 meters away at (-67.5, 5.7). A vehicle with ID 51 is 67.8 meters away at (-45.4, -50.4). A vehicle with ID 54 is 75.3 meters away at (56.3, -50.1).

The unknown object with ID 2 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 [ 7.13593   -5.7742386] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.764949   5.7449675] m/s.The vehicle with ID 20 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 33 is traveling at a (x, y) velocity of [1.0146517 2.7335243] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 1.8763924 -1.2053472] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.9097214 2.2337189], 2.938798427581787 meters away.)


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 2.12

The most relevant actors are: A unknown object with ID 1 is 7.5 meters away at (6.2, -4.1). A unknown object with ID 2 is 9.2 meters away at (7.5, -5.3). A vehicle with ID 11 is 18.2 meters away at (12.2, -13.5). A vehicle with ID 45 is 27.6 meters away at (17.3, -21.4). A unknown object with ID 49 is 40.3 meters away at (-12.0, -38.5). A unknown object with ID 29 is 55.6 meters away at (-27.3, -48.4). A vehicle with ID 53 is 66.4 meters away at (52.3, -40.9). A vehicle with ID 43 is 67.5 meters away at (-66.7, -10.2). A vehicle with ID 14 is 68.0 meters away at (-67.8, -6.0). A vehicle with ID 51 is 70.3 meters away at (-39.9, -57.9).

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 11 is traveling at a (x, y) velocity of [-6.854537   5.2763987] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 6.939208 -5.599677] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 43 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 [0.7864101 1.1459007] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 6.2221336 -4.1366196], 7.471717834472656 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.5) m/s. Its current heading (yaw) is 1.17

The most relevant actors are: A unknown object with ID 29 is 5.0 meters away at (-4.9, 1.4). A vehicle with ID 41 is 5.2 meters away at (-4.3, -2.9). A unknown object with ID 33 is 5.8 meters away at (-4.5, 3.6). A unknown object with ID 30 is 6.0 meters away at (-5.8, -1.3). A vehicle with ID 36 is 7.0 meters away at (-6.7, 2.1). A unknown object with ID 37 is 7.3 meters away at (-5.3, 5.0). A unknown object with ID 35 is 8.0 meters away at (-6.9, -4.2). A vehicle with ID 40 is 9.4 meters away at (3.5, 8.8). A unknown object with ID 14 is 9.5 meters away at (-9.3, 1.9). A pedestrian with ID 39 is 9.9 meters away at (-8.3, 5.4).

The unknown object with ID 29 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 [1.7409126 5.5788608] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.03706915 0.01223927] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-4.8504505  1.3601966], 5.037559509277344 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 1.17

The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-4.9, 1.1). A unknown object with ID 33 is 5.7 meters away at (-4.6, 3.4). A vehicle with ID 41 is 5.9 meters away at (-1.2, 5.7). A unknown object with ID 30 is 6.1 meters away at (-5.9, -1.6). A vehicle with ID 36 is 7.0 meters away at (-6.8, 1.8). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.7). A pedestrian with ID 27 is 7.3 meters away at (-6.2, 3.9). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.4). A vehicle with ID 40 is 9.2 meters away at (3.3, 8.5). A unknown object with ID 14 is 9.5 meters away at (-9.4, 1.8).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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 [1.3212026 3.1160553] m/s.The unknown object with ID 30 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.08091051 0.01642355] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 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 [-4.943819   1.0945699], 5.063539505004883 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 1.17

The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-5.0, 1.0). A unknown object with ID 33 is 5.7 meters away at (-4.7, 3.3). A unknown object with ID 30 is 6.2 meters away at (-5.9, -1.6). A vehicle with ID 36 is 6.8 meters away at (-6.6, 1.7). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.6). A pedestrian with ID 27 is 7.4 meters away at (-6.3, 3.8). A pedestrian with ID 26 is 7.5 meters away at (-7.1, 2.3). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.5). A vehicle with ID 40 is 9.1 meters away at (3.3, 8.5). A vehicle with ID 41 is 9.4 meters away at (0.4, 9.4).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.03516109  0.00789153] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00851953  0.03600746] m/s.The unknown object with ID 35 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 41 is traveling at a (x, y) velocity of [0.36636794 0.9579967 ] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-4.962996   1.0396628], 5.070722579956055 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 1.17

The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-5.0, 1.0). A unknown object with ID 33 is 5.7 meters away at (-4.7, 3.3). A pedestrian with ID 26 is 6.1 meters away at (-5.6, 2.5). A unknown object with ID 30 is 6.2 meters away at (-6.0, -1.6). A vehicle with ID 36 is 6.8 meters away at (-6.6, 1.7). A pedestrian with ID 27 is 7.0 meters away at (-6.0, 3.6). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.6). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.5). A vehicle with ID 40 is 9.1 meters away at (3.3, 8.4). A pedestrian with ID 39 is 9.9 meters away at (-8.5, 5.0).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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 [0.7026634  0.17799439] m/s.The unknown object with ID 30 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [0.10108682 0.00934486] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 39 is traveling at a (x, y) velocity of [-0.00440496 -0.00706157] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-4.9756455  1.0327721], 5.081698894500732 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.6) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A pedestrian with ID 122 is 2.8 meters away at (1.6, 2.3). A pedestrian with ID 126 is 6.1 meters away at (5.9, -1.8). A vehicle with ID 50 is 6.3 meters away at (6.3, -0.1). A vehicle with ID 11 is 7.5 meters away at (-6.2, 4.2). A unknown object with ID 124 is 28.6 meters away at (23.5, 16.4). A vehicle with ID 125 is 35.5 meters away at (33.2, 12.7). A pedestrian with ID 91 is 44.6 meters away at (30.2, -32.7). A vehicle with ID 123 is 44.8 meters away at (38.8, 22.4). A unknown object with ID 113 is 48.8 meters away at (41.8, -25.2). A unknown object with ID 94 is 50.4 meters away at (42.9, -26.5).

The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00968158 0.00628883] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [-0.31942084  0.60102075] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.9075966  -0.60473526] m/s.The unknown object with ID 124 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 91 is traveling at a (x, y) velocity of [ 0.01152077 -0.00250714] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[25.352901  -1.751694 ]
 [28.321934  -3.5208924]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A pedestrian with ID 122 is 3.8 meters away at (-0.2, 3.8). A pedestrian with ID 126 is 4.0 meters away at (4.0, -0.4). A vehicle with ID 11 is 7.9 meters away at (-6.4, 4.6). A pedestrian with ID 47 is 12.8 meters away at (-6.4, -11.1). A unknown object with ID 124 is 27.9 meters away at (21.5, 17.9). A vehicle with ID 125 is 34.3 meters away at (31.3, 14.2). A pedestrian with ID 111 is 37.9 meters away at (21.5, -31.3). A pedestrian with ID 91 is 42.2 meters away at (28.4, -31.2). A vehicle with ID 123 is 43.9 meters away at (36.9, 23.9). A unknown object with ID 113 is 46.3 meters away at (39.8, -23.7).

The pedestrian with ID 122 is traveling at a (x, y) velocity of [-0.01062809  0.0093794 ] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.3041537  0.01124016] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.0898569 -0.7202148] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.27933735  0.10138738] m/s.The unknown object with ID 124 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 111 is traveling at a (x, y) velocity of [-0.03288648 -0.00865369] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.0185739   0.01871789] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[25.352901  -1.751694 ]
 [28.321934  -3.5208924]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -2.0) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A pedestrian with ID 126 is 3.6 meters away at (1.4, 3.3). A pedestrian with ID 122 is 7.9 meters away at (-4.0, 6.8). A vehicle with ID 11 is 9.1 meters away at (-7.2, 5.6). A unknown object with ID 124 is 27.4 meters away at (17.8, 20.9). A pedestrian with ID 120 is 30.4 meters away at (-5.0, -30.0). A pedestrian with ID 103 is 31.5 meters away at (-5.7, -30.9). A vehicle with ID 125 is 32.5 meters away at (27.6, 17.1). A pedestrian with ID 111 is 33.5 meters away at (18.0, -28.3). A pedestrian with ID 91 is 37.3 meters away at (24.4, -28.3). A unknown object with ID 113 is 41.5 meters away at (36.0, -20.8).

The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.46920368 0.9500387 ] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00518505 0.00808095] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 2.0019722 -1.3801914] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.04961714  0.00774418] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.07539438  0.01256787] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.2745038  0.02123901] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.01518857 -0.01395123] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [1.378058 3.338696], 3.6119155883789062 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -0.9) m/s. Its current heading (yaw) is -0.19

The most relevant actors are: A pedestrian with ID 126 is 10.0 meters away at (-5.5, 8.3). A vehicle with ID 45 is 10.7 meters away at (-6.8, 8.2). A vehicle with ID 11 is 10.9 meters away at (-9.5, 5.4). A pedestrian with ID 122 is 15.5 meters away at (-11.4, 10.6). A unknown object with ID 124 is 26.7 meters away at (10.4, 24.5). A vehicle with ID 125 is 28.9 meters away at (20.2, 20.7). A pedestrian with ID 120 is 29.3 meters away at (-12.9, -26.3). A pedestrian with ID 91 is 29.9 meters away at (16.6, -24.8). A unknown object with ID 113 is 33.2 meters away at (28.3, -17.5). A vehicle with ID 37 is 34.2 meters away at (-13.7, -31.3).

The pedestrian with ID 126 is traveling at a (x, y) velocity of [-0.05913436  0.48252785] m/s.The vehicle with ID 45 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 [ 3.2585313 -2.3689854] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00359923 0.00337517] m/s.The unknown object with ID 124 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 120 is traveling at a (x, y) velocity of [-0.00481185  0.00310594] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.0473945  -0.01368095] m/s.The unknown object with ID 113 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.

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 2.41

The most relevant actors are: A vehicle with ID 14 is 3.4 meters away at (-2.9, -1.8). A vehicle with ID 16 is 7.0 meters away at (3.8, -5.9). A cyclist with ID 15 is 7.5 meters away at (-1.5, -7.3). A pedestrian with ID 4 is 7.6 meters away at (-1.4, -7.4). A pedestrian with ID 21 is 11.4 meters away at (-9.5, -6.4). A pedestrian with ID 8 is 11.7 meters away at (-10.3, -5.5). A vehicle with ID 24 is 14.7 meters away at (14.0, -4.6). A vehicle with ID 23 is 15.5 meters away at (11.7, -10.1). A vehicle with ID 19 is 17.6 meters away at (-15.0, -9.3). A vehicle with ID 18 is 18.1 meters away at (17.7, 3.6).

The vehicle with ID 14 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 cyclist with ID 15 is traveling at a (x, y) velocity of [-0.16448759  0.12937157] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00032734  0.01408408] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.0162683 -0.0020998] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.80382884 -0.3773512 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-5.240739   3.1390932] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ -2.2184582 -11.019817 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.7163625 -4.4235544] 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 2.41

The most relevant actors are: A vehicle with ID 14 is 3.3 meters away at (-2.7, -1.8). A vehicle with ID 24 is 5.2 meters away at (5.1, 0.7). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.5 meters away at (-1.4, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.4, -6.3). A pedestrian with ID 8 is 11.4 meters away at (-9.8, -5.7). A vehicle with ID 30 is 13.1 meters away at (-13.1, 0.9). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.1). A vehicle with ID 32 is 27.2 meters away at (-11.4, -24.7). A vehicle with ID 9 is 29.5 meters away at (-26.2, 13.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5885491  2.1726313] m/s.The vehicle with ID 16 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 [0.00214799 0.00341174] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00321313 -0.00804142] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00682937 -0.00348017] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -2.852077 -12.158213] m/s.The vehicle with ID 23 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 9 is traveling at a (x, y) velocity of [ 4.5709686 18.103004 ] 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 2.41

The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (-2.7, -1.8). A vehicle with ID 24 is 3.9 meters away at (0.0, 3.9). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.5 meters away at (-1.3, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.3, -6.3). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.1). A vehicle with ID 2 is 26.9 meters away at (-5.9, 26.2). A vehicle with ID 32 is 27.6 meters away at (-11.7, -25.0). A vehicle with ID 30 is 30.1 meters away at (-17.8, -24.3). A vehicle with ID 28 is 48.7 meters away at (-25.4, 41.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.5066527   0.91091645] m/s.The vehicle with ID 16 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 [-0.00187105  0.00019522] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00079967 0.00359881] m/s.The vehicle with ID 23 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 [ -4.2378163 -12.192688 ] m/s.The vehicle with ID 32 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 [ -1.9210061 -13.193771 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 4.182366 11.512601] 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 2.41

The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (-2.7, -1.8). A vehicle with ID 24 is 4.8 meters away at (-1.3, 4.7). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.4 meters away at (-1.3, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.3, -6.4). A vehicle with ID 2 is 13.4 meters away at (-13.3, 2.2). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.2). A vehicle with ID 32 is 27.9 meters away at (-11.9, -25.2). A vehicle with ID 27 is 41.0 meters away at (-6.6, 40.5). A vehicle with ID 1 is 45.7 meters away at (-33.4, -31.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 [0.00023469 0.00234032] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00689679 -0.00466686] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -3.1696622 -12.033777 ] m/s.The vehicle with ID 23 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 27 is traveling at a (x, y) velocity of [ -3.9465458 -11.338002 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.3718126 16.416533 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.6, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 14.9 meters away at (13.0, 7.3). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A pedestrian with ID 11 is 17.7 meters away at (13.5, 11.5). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.5).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.43514618 -1.3173739 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.45757183 -1.1964061 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching