The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.1) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A pedestrian with ID 11 is 8.8 meters away at (4.4, -7.6). A vehicle with ID 9 is 16.5 meters away at (9.6, -13.5). A unknown object with ID 2 is 24.6 meters away at (0.6, -24.6). A vehicle with ID 8 is 24.8 meters away at (0.6, 24.7). A vehicle with ID 13 is 27.2 meters away at (-8.5, -25.9). A unknown object with ID 5 is 28.8 meters away at (-18.8, -21.8). A vehicle with ID 14 is 29.3 meters away at (23.2, -18.0). A vehicle with ID 16 is 36.5 meters away at (32.6, -16.5). A vehicle with ID 12 is 40.1 meters away at (29.8, -26.9). A pedestrian with ID 22 is 41.6 meters away at (-40.2, 10.7).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5931579 -1.129502 ] m/s.The vehicle with ID 9 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.1317625 6.474386 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.501837   0.8740459] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.5643616 -1.9177008] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.668123   -0.40375566] m/s.

There are active red lights at the following coordinates: [[3.460648  4.81143  ]
 [5.2428803 7.4566817]]

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 4.36737  -7.619036], 8.78200626373291 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 4.5) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 8 is 14.0 meters away at (-4.9, 13.1). A pedestrian with ID 11 is 22.2 meters away at (-2.5, -22.0). A vehicle with ID 9 is 25.5 meters away at (3.9, -25.2). A vehicle with ID 13 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 42 is 45.9 meters away at (5.3, 45.6). A vehicle with ID 39 is 47.2 meters away at (-43.9, -17.4). A vehicle with ID 38 is 60.2 meters away at (-25.4, -54.6). A vehicle with ID 47 is 65.8 meters away at (-27.0, -60.1). A vehicle with ID 10 is 79.3 meters away at (-28.5, -74.0).

The vehicle with ID 8 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 [-0.56148934 -1.3740495 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.6228008  6.4824824] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 5.0690255 -1.6052959] m/s.The vehicle with ID 38 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 10 is traveling at a (x, y) velocity of [-2.3457377 -7.6877003] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A vehicle with ID 8 is 10.0 meters away at (-8.1, 5.9). A vehicle with ID 1 is 15.1 meters away at (12.9, 7.9). A pedestrian with ID 11 is 32.8 meters away at (-7.0, -32.1). A vehicle with ID 42 is 38.3 meters away at (2.1, 38.3). A vehicle with ID 6 is 47.0 meters away at (-38.1, -27.5). A vehicle with ID 39 is 47.4 meters away at (-38.7, -27.4). A vehicle with ID 38 is 68.2 meters away at (-28.8, -61.9). A vehicle with ID 47 is 73.8 meters away at (-30.3, -67.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.46448174 -1.3305396 ] m/s.The vehicle with ID 42 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 [ 3.2006726 -0.9638014] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 2.6870174 -0.9103917] m/s.The vehicle with ID 38 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.

There are active red lights at the following coordinates: [[-5.7579646   1.2771027 ]
 [-6.936848   -0.59250134]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 8 is 9.6 meters away at (-9.0, 3.5). A vehicle with ID 1 is 12.9 meters away at (11.7, 5.4). A vehicle with ID 42 is 35.8 meters away at (1.3, 35.8). A pedestrian with ID 11 is 38.2 meters away at (-8.6, -37.2). A vehicle with ID 6 is 46.3 meters away at (-34.0, -31.4). A vehicle with ID 39 is 47.9 meters away at (-36.9, -30.5). A vehicle with ID 38 is 70.7 meters away at (-29.7, -64.1). A vehicle with ID 47 is 76.3 meters away at (-31.2, -69.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 [-0.514391  -1.3429317] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.5963405 -0.5366403] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-5.7579646   1.2771027 ]
 [-6.936848   -0.59250134]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.3) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A unknown object with ID 18 is 19.5 meters away at (18.8, -5.2). A unknown object with ID 19 is 19.9 meters away at (19.6, -3.8). A unknown object with ID 20 is 20.3 meters away at (20.0, -3.3). A unknown object with ID 21 is 21.0 meters away at (21.0, -1.6). A unknown object with ID 22 is 22.5 meters away at (22.5, -0.4). A unknown object with ID 15 is 26.3 meters away at (14.1, 22.3). A unknown object with ID 16 is 26.5 meters away at (13.4, 22.8). A unknown object with ID 8 is 27.3 meters away at (13.7, 23.6). A unknown object with ID 2 is 27.3 meters away at (14.7, 23.0). A unknown object with ID 17 is 42.4 meters away at (37.9, 19.0).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [18.750162 -5.246653], 19.470386505126953 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.5) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A unknown object with ID 15 is 14.3 meters away at (5.3, 13.3). A unknown object with ID 16 is 14.6 meters away at (4.7, 13.8). A unknown object with ID 2 is 15.2 meters away at (5.9, 14.1). A unknown object with ID 8 is 15.4 meters away at (5.1, 14.5). A unknown object with ID 21 is 16.2 meters away at (12.3, -10.5). A unknown object with ID 22 is 16.6 meters away at (13.8, -9.4). A unknown object with ID 20 is 16.7 meters away at (11.3, -12.3). A unknown object with ID 10 is 17.4 meters away at (10.1, -14.1). A unknown object with ID 18 is 17.5 meters away at (10.1, -14.3). A unknown object with ID 12 is 29.4 meters away at (28.5, 7.4).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 5.316822 13.276924], 14.301934242248535 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.0) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A unknown object with ID 15 is 5.5 meters away at (-2.8, 4.8). A unknown object with ID 2 is 6.0 meters away at (-2.2, 5.6). A unknown object with ID 16 is 6.4 meters away at (-3.5, 5.4). A unknown object with ID 8 is 6.8 meters away at (-3.1, 6.0). A unknown object with ID 22 is 18.7 meters away at (5.6, -17.8). A unknown object with ID 21 is 19.4 meters away at (4.1, -19.0). A unknown object with ID 12 is 20.3 meters away at (20.3, -1.1). A unknown object with ID 20 is 21.0 meters away at (3.2, -20.7). A unknown object with ID 17 is 21.0 meters away at (20.9, 1.6). A unknown object with ID 18 is 22.8 meters away at (1.7, -22.7).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.8148575  4.7750435], 5.542965412139893 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 2 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 8 is 10.5 meters away at (-10.3, -2.0). A unknown object with ID 15 is 10.6 meters away at (-10.1, -3.2). A unknown object with ID 16 is 10.9 meters away at (-10.6, -2.7). A unknown object with ID 17 is 15.1 meters away at (13.7, -6.5). A unknown object with ID 12 is 15.9 meters away at (13.0, -9.1). A unknown object with ID 14 is 16.1 meters away at (15.1, -5.8). A unknown object with ID 22 is 25.9 meters away at (-1.6, -25.9). A unknown object with ID 21 is 27.2 meters away at (-3.2, -27.0). A unknown object with ID 18 is 31.3 meters away at (-5.5, -30.8).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 12 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-9.505547  -2.4611435], 9.81899356842041 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.8) m/s. Its current heading (yaw) is -1.49

The most relevant actors are: A pedestrian with ID 13 is 22.4 meters away at (-9.1, 20.5). A vehicle with ID 14 is 32.7 meters away at (-5.3, 32.3). A vehicle with ID 16 is 68.3 meters away at (-1.1, 68.3). A vehicle with ID 18 is 68.7 meters away at (-2.7, -68.7). A vehicle with ID 3 is 75.2 meters away at (-2.7, -75.2).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02395691 -1.5195266 ] m/s.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 vehicle with ID 18 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: Sharp right turn approaching


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

The most relevant actors are: A pedestrian with ID 13 is 20.1 meters away at (-9.2, 17.8). A vehicle with ID 14 is 33.1 meters away at (-5.4, 32.7). A vehicle with ID 18 is 68.3 meters away at (-2.8, -68.3). A vehicle with ID 16 is 68.8 meters away at (-1.2, 68.8). A vehicle with ID 3 is 74.7 meters away at (-2.8, -74.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01599211 -1.4527789 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.7) m/s. Its current heading (yaw) is -1.48

The most relevant actors are: A pedestrian with ID 13 is 18.6 meters away at (-9.4, 16.1). A vehicle with ID 14 is 34.3 meters away at (-5.4, 33.9). A pedestrian with ID 1 is 61.4 meters away at (-60.7, 9.6). A vehicle with ID 18 is 67.1 meters away at (-2.9, -67.0). A vehicle with ID 16 is 70.0 meters away at (-1.2, 69.9). A vehicle with ID 3 is 73.7 meters away at (-2.8, -73.6). A cyclist with ID 2 is 75.8 meters away at (67.3, -34.8). A vehicle with ID 10 is 76.3 meters away at (-2.3, 76.2).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.09642288 -1.4378337 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.3001189   0.00197255] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-3.0667233  7.658166 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.6478089 -0.9764791] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.3) m/s. Its current heading (yaw) is -1.02

The most relevant actors are: A pedestrian with ID 13 is 21.8 meters away at (-11.0, 18.8). A vehicle with ID 14 is 40.3 meters away at (-7.2, 39.6). A vehicle with ID 18 is 61.5 meters away at (-4.7, -61.3). A pedestrian with ID 1 is 66.4 meters away at (-64.6, 15.6). A vehicle with ID 3 is 68.1 meters away at (-4.7, -67.9). A vehicle with ID 16 is 75.7 meters away at (-2.7, 75.6). A vehicle with ID 10 is 78.2 meters away at (-5.9, 78.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.07776041 -1.5208039 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.0952804   0.10518981] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.89738727 -3.3003256 ] 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 2.82

The most relevant actors are: A vehicle with ID 15 is 7.4 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.4 meters away at (-3.1, -10.0). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 36 is 11.4 meters away at (10.9, 3.1). A unknown object with ID 12 is 11.4 meters away at (-7.6, -8.5). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 28 is 13.7 meters away at (13.0, 4.2).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1410795 -0.7743207] m/s.The unknown object with ID 12 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 unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0997573  0.3924896] 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 2.82

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 37 is 10.5 meters away at (5.9, -8.7). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 28 is 11.9 meters away at (10.7, 5.3). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 36 is 13.8 meters away at (13.6, 1.9).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [12.263661  -4.0914354] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1266246   0.55887145] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3675961  -0.57125247] 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 2.82

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A pedestrian with ID 28 is 10.6 meters away at (8.4, 6.5). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3). A vehicle with ID 49 is 15.0 meters away at (-14.9, -1.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0969017  0.5989843] m/s.The unknown object with ID 21 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 unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [10.309537  -3.4366724] 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 2.82

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A pedestrian with ID 28 is 9.8 meters away at (6.1, 7.6). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 49 is 11.1 meters away at (6.7, -8.8). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2543912   0.65299207] m/s.The vehicle with ID 20 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 [11.025119  -3.6898985] m/s.The unknown object with ID 21 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 unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -2.3) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 64 is 3.6 meters away at (-0.4, 3.6). A vehicle with ID 62 is 12.2 meters away at (-3.0, -11.8). A vehicle with ID 59 is 14.7 meters away at (12.5, -7.8). A vehicle with ID 60 is 17.8 meters away at (17.7, 1.0). A vehicle with ID 63 is 19.3 meters away at (-5.2, -18.5). A vehicle with ID 65 is 25.5 meters away at (-7.0, -24.5). A vehicle with ID 36 is 27.7 meters away at (25.2, -11.5). A vehicle with ID 61 is 29.6 meters away at (29.5, -2.6). A vehicle with ID 67 is 56.9 meters away at (-52.1, 22.8). A vehicle with ID 68 is 66.3 meters away at (-61.0, 25.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.4692535  2.164351 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.2) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 59 is 3.8 meters away at (-0.7, -3.7). A vehicle with ID 60 is 6.7 meters away at (4.4, 5.1). A vehicle with ID 36 is 14.0 meters away at (11.9, -7.4). A vehicle with ID 61 is 16.2 meters away at (16.2, 1.5). A vehicle with ID 62 is 18.0 meters away at (-16.3, -7.6). A vehicle with ID 64 is 31.3 meters away at (-28.9, 12.1). A vehicle with ID 2 is 64.4 meters away at (60.3, -22.8). A vehicle with ID 1 is 69.9 meters away at (65.5, -24.5). A vehicle with ID 67 is 70.8 meters away at (-65.4, 27.1). A pedestrian with ID 7 is 72.2 meters away at (66.3, -28.6).

The vehicle with ID 59 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.5265365  1.9969158] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1393197 -0.4412714] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.8) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 36 is 3.7 meters away at (0.1, -3.7). A vehicle with ID 61 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 60 is 11.4 meters away at (-7.3, 8.7). A vehicle with ID 59 is 12.6 meters away at (-12.6, -0.0). A vehicle with ID 21 is 26.0 meters away at (12.6, -22.8). A vehicle with ID 19 is 36.2 meters away at (18.8, -31.0). A unknown object with ID 44 is 36.8 meters away at (35.7, 8.8). A unknown object with ID 5 is 46.4 meters away at (46.3, 2.1). A vehicle with ID 2 is 52.0 meters away at (48.3, -19.1). A vehicle with ID 1 is 57.4 meters away at (53.6, -20.5).

The vehicle with ID 36 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 59 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.0) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (-8.1, -1.1). A vehicle with ID 61 is 8.8 meters away at (-4.0, 7.9). A vehicle with ID 60 is 19.3 meters away at (-15.6, 11.4). A vehicle with ID 21 is 20.4 meters away at (4.4, -19.9). A vehicle with ID 59 is 21.0 meters away at (-20.9, 2.6). A vehicle with ID 19 is 30.1 meters away at (10.6, -28.2). A unknown object with ID 5 is 38.4 meters away at (38.1, 4.8). A vehicle with ID 43 is 43.1 meters away at (-1.4, -43.0). A vehicle with ID 2 is 43.3 meters away at (40.1, -16.4). A vehicle with ID 1 is 48.6 meters away at (45.2, -17.9).

The vehicle with ID 36 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.8) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 24 is 32.5 meters away at (-13.8, 29.5). A vehicle with ID 26 is 41.7 meters away at (-21.6, 35.6). A vehicle with ID 25 is 51.0 meters away at (47.5, -18.6). A vehicle with ID 28 is 61.9 meters away at (-38.7, 48.3). A vehicle with ID 27 is 64.7 meters away at (58.9, -26.9).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.3) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 24 is 41.6 meters away at (-6.8, 41.0). A vehicle with ID 26 is 49.3 meters away at (-14.6, 47.1). A vehicle with ID 25 is 55.2 meters away at (54.8, -6.8). A vehicle with ID 27 is 67.6 meters away at (65.9, -15.1). A vehicle with ID 28 is 67.6 meters away at (-31.6, 59.8).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.8) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 24 is 54.5 meters away at (0.6, 54.5). A vehicle with ID 26 is 61.0 meters away at (-7.2, 60.6). A vehicle with ID 25 is 62.7 meters away at (62.3, 6.8). A unknown object with ID 2 is 66.1 meters away at (-35.1, -56.0). A pedestrian with ID 10 is 71.9 meters away at (13.4, -70.6). A vehicle with ID 27 is 73.4 meters away at (73.4, -1.0). A vehicle with ID 28 is 76.8 meters away at (-24.2, 72.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.8333002 -1.6051509] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -6.2) m/s. Its current heading (yaw) is -2.14

The most relevant actors are: A unknown object with ID 2 is 50.8 meters away at (-27.1, -43.0). A pedestrian with ID 10 is 65.6 meters away at (25.0, -60.7). A unknown object with ID 18 is 66.6 meters away at (-36.5, -55.7). A vehicle with ID 24 is 68.1 meters away at (8.5, 67.6). A vehicle with ID 26 is 73.5 meters away at (0.9, 73.5).

The unknown object with ID 2 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 [ 1.497793  -1.4306506] m/s.The unknown object with ID 18 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-27.080158 -42.965755], 50.78770446777344 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -6.6) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A pedestrian with ID 41 is 11.4 meters away at (-11.4, 0.7). A pedestrian with ID 43 is 11.8 meters away at (-11.8, 0.2). A vehicle with ID 44 is 16.4 meters away at (-3.4, 16.1). A pedestrian with ID 57 is 23.2 meters away at (22.4, 6.0). A vehicle with ID 40 is 25.5 meters away at (-10.5, 23.3). A vehicle with ID 42 is 34.0 meters away at (-16.4, 29.7). A pedestrian with ID 68 is 37.1 meters away at (37.0, -2.1). A vehicle with ID 45 is 37.3 meters away at (-14.9, 34.2). A vehicle with ID 46 is 41.1 meters away at (-21.2, 35.1). A vehicle with ID 48 is 44.0 meters away at (-19.9, 39.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7915863  0.736412 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.80827624  0.755897  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.3569303  1.3129048] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0675902 -0.814699 ] m/s.The vehicle with ID 40 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 pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8632319   0.69221973] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -6.4) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A pedestrian with ID 57 is 19.0 meters away at (7.5, 17.4). A pedestrian with ID 68 is 22.0 meters away at (18.1, 12.4). A pedestrian with ID 72 is 26.3 meters away at (17.3, -19.8). A pedestrian with ID 41 is 33.6 meters away at (-30.0, 15.2). A pedestrian with ID 43 is 33.8 meters away at (-30.4, 14.7). A pedestrian with ID 38 is 36.0 meters away at (35.9, -1.7). A pedestrian with ID 39 is 36.4 meters away at (36.4, -0.9). A vehicle with ID 44 is 37.3 meters away at (-21.7, 30.3). A pedestrian with ID 24 is 44.6 meters away at (43.7, -8.9). A pedestrian with ID 23 is 45.4 meters away at (44.5, -8.8).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9724613 -0.7348676] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.98883647  0.74460006] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.0733744   0.90918684] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.8381244  0.7667623] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.8328299  0.7684893] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0925791  0.8090397] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0861121   0.75809705] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.74159294 -0.55297244] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.71167934 -0.6401937 ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 7.498459 17.44265 ], 18.98612403869629 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -6.0) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A pedestrian with ID 72 is 6.1 meters away at (-2.3, -5.6). A pedestrian with ID 38 is 20.6 meters away at (16.5, 12.4). A pedestrian with ID 39 is 21.4 meters away at (16.9, 13.2). A pedestrian with ID 68 is 26.3 meters away at (-1.3, 26.3). A pedestrian with ID 24 is 27.5 meters away at (27.4, 2.7). A pedestrian with ID 23 is 28.4 meters away at (28.2, 3.0). A pedestrian with ID 57 is 29.8 meters away at (-8.0, 28.7). A pedestrian with ID 15 is 31.4 meters away at (21.2, -23.2). A pedestrian with ID 17 is 31.6 meters away at (31.6, 1.0). A pedestrian with ID 13 is 38.4 meters away at (26.9, -27.5).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.96944094  0.7708394 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0119795  0.8708304] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0489277  0.8093352] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.9301771   0.71936375] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.741506  -0.6497724] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7572647  -0.62060905] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9635933 -0.6488195] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.5111097 -0.9374989] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.3961926 -1.0919285] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.064237  -0.6938786] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -6.0) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A pedestrian with ID 15 is 14.4 meters away at (7.0, -12.6). A pedestrian with ID 24 is 17.9 meters away at (11.1, 14.0). A pedestrian with ID 23 is 18.7 meters away at (12.1, 14.3). A pedestrian with ID 31 is 18.9 meters away at (9.1, -16.6). A pedestrian with ID 17 is 19.8 meters away at (16.6, 10.8). A pedestrian with ID 13 is 20.2 meters away at (11.8, -16.4). A pedestrian with ID 14 is 20.7 meters away at (11.1, -17.5). A pedestrian with ID 72 is 23.3 meters away at (-21.9, 8.0). A pedestrian with ID 35 is 23.7 meters away at (13.8, -19.2). A pedestrian with ID 19 is 24.3 meters away at (15.2, -18.9).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.4584645  -0.80597985] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.6979925  -0.48654217] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7123317  -0.53344434] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.8178403  0.6241218] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.1671523 -1.0072691] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.0414366  -0.56128424] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.76436484 -0.7795338 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.2097512  0.7919243] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.049221   0.7197663] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0731481  0.7133792] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 9.2) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 3 is 27.3 meters away at (-5.1, 26.8). A vehicle with ID 16 is 28.8 meters away at (-7.6, 27.8). A unknown object with ID 6 is 46.5 meters away at (16.9, 43.3). A unknown object with ID 4 is 59.1 meters away at (7.9, 58.6). A vehicle with ID 33 is 76.9 meters away at (-22.0, -73.6). A vehicle with ID 34 is 78.5 meters away at (-32.0, -71.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 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 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 8.6) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A vehicle with ID 3 is 14.5 meters away at (-11.4, 9.0). A vehicle with ID 16 is 17.1 meters away at (-13.9, 9.9). A vehicle with ID 17 is 19.6 meters away at (-16.8, 10.2). A vehicle with ID 19 is 22.5 meters away at (-19.5, 11.3). A unknown object with ID 6 is 27.6 meters away at (10.7, 25.5). A vehicle with ID 24 is 32.5 meters away at (-29.0, 14.7). A vehicle with ID 8 is 43.6 meters away at (-39.5, 18.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 8 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 (2.1, 8.2) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A vehicle with ID 3 is 18.5 meters away at (-16.8, -7.7). A vehicle with ID 16 is 20.5 meters away at (-19.4, -6.7). A vehicle with ID 17 is 23.1 meters away at (-22.2, -6.5). A vehicle with ID 19 is 25.5 meters away at (-24.9, -5.4). A vehicle with ID 22 is 29.9 meters away at (-29.8, -3.1). A vehicle with ID 24 is 34.5 meters away at (-34.5, -2.0). A vehicle with ID 25 is 36.9 meters away at (-36.9, -0.9). A vehicle with ID 20 is 39.4 meters away at (-39.4, 0.1). A vehicle with ID 11 is 42.2 meters away at (-42.2, 0.8). A vehicle with ID 8 is 45.0 meters away at (-45.0, 1.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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, 7.7) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A vehicle with ID 3 is 31.7 meters away at (-21.0, -23.7). A vehicle with ID 16 is 32.9 meters away at (-23.6, -22.9). A vehicle with ID 17 is 34.8 meters away at (-26.5, -22.6). A vehicle with ID 19 is 36.2 meters away at (-29.2, -21.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 45 is 8.3 meters away at (2.9, 7.8). A pedestrian with ID 40 is 13.5 meters away at (13.4, -0.8). A vehicle with ID 49 is 15.4 meters away at (7.8, 13.3). A vehicle with ID 62 is 22.9 meters away at (12.7, 19.1). A vehicle with ID 43 is 23.5 meters away at (7.2, -22.3). A pedestrian with ID 47 is 26.5 meters away at (-3.1, -26.3). A pedestrian with ID 13 is 27.4 meters away at (-3.9, -27.2). A vehicle with ID 69 is 28.6 meters away at (23.5, 16.4). A vehicle with ID 73 is 28.7 meters away at (16.6, 23.4). A vehicle with ID 48 is 29.1 meters away at (-29.1, -1.3).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.68525857 -0.9752431 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.15471713 -0.92160547] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.23224798 -1.0106789 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -3.1) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 45 is 13.4 meters away at (6.2, 11.9). A pedestrian with ID 40 is 15.0 meters away at (15.0, 0.8). A unknown object with ID 41 is 16.4 meters away at (16.4, -0.4). A vehicle with ID 49 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 43 is 21.1 meters away at (10.4, -18.3). A pedestrian with ID 47 is 24.2 meters away at (-0.3, -24.2). A pedestrian with ID 13 is 24.6 meters away at (-1.4, -24.5). A vehicle with ID 50 is 25.1 meters away at (-23.1, -9.7). A vehicle with ID 48 is 26.0 meters away at (-25.8, 2.7). A vehicle with ID 62 is 28.2 meters away at (16.1, 23.2).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9305816 -1.2383822] m/s.The unknown object with ID 41 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.34884375 -1.0012909 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.23524491 -0.3609533 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -4.8) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A pedestrian with ID 13 is 16.9 meters away at (3.8, -16.4). A pedestrian with ID 47 is 17.4 meters away at (4.9, -16.7). A vehicle with ID 50 is 18.1 meters away at (-18.0, -1.7). A vehicle with ID 43 is 18.6 meters away at (15.4, -10.4). A pedestrian with ID 40 is 19.4 meters away at (18.3, 6.6). A vehicle with ID 51 is 20.7 meters away at (-19.8, -5.8). A vehicle with ID 45 is 22.9 meters away at (11.3, 19.9). A unknown object with ID 41 is 22.9 meters away at (21.5, 7.7). A vehicle with ID 48 is 23.4 meters away at (-20.8, 10.7). A pedestrian with ID 34 is 23.7 meters away at (-22.3, -8.2).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02127654 -0.0145252 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.02406964 -0.00525446] m/s.The vehicle with ID 50 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.8643416 -1.2338614] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 34 is traveling at a (x, y) velocity of [ 1.2938322 -0.5164448] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -4.8) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A pedestrian with ID 13 is 10.9 meters away at (8.5, -6.9). A pedestrian with ID 47 is 11.9 meters away at (9.6, -7.1). A pedestrian with ID 34 is 15.3 meters away at (-15.3, 0.5). A vehicle with ID 50 is 15.5 meters away at (-13.3, 7.8). A vehicle with ID 51 is 15.6 meters away at (-15.1, 3.7). A vehicle with ID 43 is 20.1 meters away at (20.1, -0.9). A vehicle with ID 55 is 23.7 meters away at (-21.3, 10.5). A pedestrian with ID 40 is 25.3 meters away at (21.2, 13.8). A vehicle with ID 48 is 25.9 meters away at (-16.1, 20.3). A vehicle with ID 56 is 29.2 meters away at (28.4, -7.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01858041 -0.01267712] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00487792 -0.01982473] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.2251925  -0.46047077] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9665517 -1.1875004] m/s.The vehicle with ID 48 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.9) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A vehicle with ID 1 is 14.8 meters away at (5.2, 13.9). A vehicle with ID 18 is 19.8 meters away at (3.5, 19.5). A vehicle with ID 19 is 20.5 meters away at (11.3, 17.2). A vehicle with ID 2 is 23.8 meters away at (5.9, -23.0). A vehicle with ID 21 is 40.1 meters away at (36.0, 17.5). A unknown object with ID 13 is 41.6 meters away at (39.7, 12.6). A vehicle with ID 20 is 55.3 meters away at (45.1, 32.0). A vehicle with ID 22 is 76.1 meters away at (9.0, -75.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.3343211 -1.4377763] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.2939068 -0.5828446] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 1.9688947 -8.919261 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.601202   2.0964031] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -1.0307375 -10.129292 ] m/s.

There are active red lights at the following coordinates: [[-11.871971  12.258988]
 [ -9.712252   8.57368 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -6.3) m/s. Its current heading (yaw) is -1.28

The most relevant actors are: A vehicle with ID 1 is 20.4 meters away at (-0.7, 20.4). A vehicle with ID 19 is 27.1 meters away at (5.2, 26.6). A vehicle with ID 2 is 30.8 meters away at (6.8, -30.1). A vehicle with ID 18 is 30.9 meters away at (0.9, 30.9). A unknown object with ID 13 is 44.2 meters away at (37.2, 24.0). A vehicle with ID 15 is 50.3 meters away at (23.3, -44.6). A vehicle with ID 20 is 60.9 meters away at (42.6, 43.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.6539253 -3.4343255] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.1315906 -1.418625 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 1.049475 -9.460059] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-11.871971  12.258988]
 [ -9.712252   8.57368 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -7.4) m/s. Its current heading (yaw) is -1.33

The most relevant actors are: A vehicle with ID 1 is 27.0 meters away at (-6.7, 26.2). A vehicle with ID 2 is 35.7 meters away at (3.9, -35.5). A vehicle with ID 19 is 36.1 meters away at (-3.4, 35.9). A vehicle with ID 15 is 36.4 meters away at (19.3, -30.8). A vehicle with ID 11 is 74.8 meters away at (-9.6, -74.2).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.00898615 -4.6861024 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.24032097 -9.904078  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.519125 -3.355765] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.5875607 16.70423  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -8.4) m/s. Its current heading (yaw) is -1.44

The most relevant actors are: A vehicle with ID 15 is 22.3 meters away at (16.3, -15.1). A vehicle with ID 11 is 28.5 meters away at (-10.1, -26.7). A vehicle with ID 1 is 31.7 meters away at (-7.7, 30.7). A vehicle with ID 2 is 39.8 meters away at (-0.2, -39.8). A vehicle with ID 19 is 44.1 meters away at (-10.0, 43.0). A vehicle with ID 8 is 75.8 meters away at (-13.7, -74.5).

The vehicle with ID 15 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 [ 0.75225174 14.53935   ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.9518269 -6.8125315] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.6204194 -9.92585  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.44670355 -5.323412  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.4174354 16.522722 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -7.9) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A vehicle with ID 33 is 7.7 meters away at (-3.3, 6.9). A vehicle with ID 3 is 15.7 meters away at (-0.4, 15.7). A vehicle with ID 34 is 27.6 meters away at (-2.1, 27.5). A vehicle with ID 32 is 28.6 meters away at (23.4, -16.4). A vehicle with ID 31 is 35.6 meters away at (31.6, -16.6). A vehicle with ID 30 is 40.4 meters away at (36.8, -16.6). A vehicle with ID 10 is 46.3 meters away at (42.9, -17.2). A vehicle with ID 16 is 58.0 meters away at (-7.6, -57.5). A vehicle with ID 18 is 64.1 meters away at (-8.3, -63.6). A vehicle with ID 20 is 75.5 meters away at (0.3, -75.5).

The vehicle with ID 33 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 [ 0.6216162 -8.917161 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.5882995 -9.525814 ] m/s.The vehicle with ID 32 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 30 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -5.6) m/s. Its current heading (yaw) is -0.99

The most relevant actors are: A vehicle with ID 3 is 13.6 meters away at (-2.9, 13.3). A vehicle with ID 32 is 20.9 meters away at (20.7, -2.9). A vehicle with ID 33 is 21.5 meters away at (-6.0, 20.6). A vehicle with ID 34 is 24.8 meters away at (-2.9, 24.6). A vehicle with ID 31 is 28.9 meters away at (28.7, -3.1). A vehicle with ID 30 is 34.2 meters away at (34.0, -3.3). A vehicle with ID 10 is 40.3 meters away at (40.2, -4.0). A vehicle with ID 16 is 45.0 meters away at (-10.7, -43.7). A vehicle with ID 18 is 51.2 meters away at (-11.3, -49.9). A vehicle with ID 14 is 61.0 meters away at (-1.8, -60.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.07899398 -7.269625  ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.5551556 -7.6395974] m/s.The vehicle with ID 31 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 [0.08185016 0.7650111 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -1.3) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A vehicle with ID 32 is 11.0 meters away at (10.1, 4.5). A vehicle with ID 3 is 13.2 meters away at (-11.2, 7.0). A vehicle with ID 31 is 18.6 meters away at (18.1, 4.3). A vehicle with ID 34 is 21.7 meters away at (-13.2, 17.2). A vehicle with ID 30 is 23.7 meters away at (23.4, 4.0). A vehicle with ID 10 is 29.7 meters away at (29.5, 3.4). A vehicle with ID 33 is 32.5 meters away at (-16.5, 28.0). A unknown object with ID 27 is 39.9 meters away at (39.8, 2.5). A vehicle with ID 16 is 42.1 meters away at (-21.1, -36.4). A vehicle with ID 18 is 47.8 meters away at (-21.9, -42.5).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.1417925 -5.8349133] m/s.The vehicle with ID 31 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 [-0.31544414 -7.7950616 ] m/s.The vehicle with ID 30 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -0.4) m/s. Its current heading (yaw) is -0.05

The most relevant actors are: A vehicle with ID 31 is 7.1 meters away at (4.1, 5.8). A vehicle with ID 32 is 7.1 meters away at (-3.9, 5.9). A vehicle with ID 30 is 10.8 meters away at (9.3, 5.5). A vehicle with ID 3 is 15.0 meters away at (-14.9, 1.3). A vehicle with ID 10 is 16.3 meters away at (15.5, 5.0). A unknown object with ID 1 is 25.6 meters away at (25.3, -3.6). A unknown object with ID 27 is 26.0 meters away at (25.7, 4.0). A vehicle with ID 34 is 28.5 meters away at (-28.5, 0.5). A vehicle with ID 33 is 42.5 meters away at (-30.5, 29.5). A unknown object with ID 29 is 51.0 meters away at (50.9, 3.5).

The vehicle with ID 31 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 30 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 [ 6.419149  -1.3346747] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 [ -0.8014624 -10.44953  ] m/s.The vehicle with ID 33 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 36 is 37.0 meters away at (27.7, -24.5). A vehicle with ID 37 is 39.4 meters away at (-32.2, -22.7). A pedestrian with ID 39 is 44.7 meters away at (-29.9, 33.2). A vehicle with ID 9 is 44.9 meters away at (-31.3, 32.1). A pedestrian with ID 11 is 47.3 meters away at (-46.7, -7.5). A vehicle with ID 29 is 57.0 meters away at (-49.7, -28.0). A vehicle with ID 40 is 59.8 meters away at (-51.5, -30.4). A unknown object with ID 16 is 79.8 meters away at (28.1, -74.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.7706614  5.052599 ] m/s.The vehicle with ID 37 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 [ 0.9818096 -0.674485 ] 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 [ 0.29258227 -0.37289798] m/s.The vehicle with ID 29 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 36 is 28.9 meters away at (21.7, -19.1). A pedestrian with ID 39 is 37.0 meters away at (-23.3, 28.7). A vehicle with ID 37 is 38.4 meters away at (-28.2, -26.1). A vehicle with ID 9 is 39.4 meters away at (-27.1, 28.5). A pedestrian with ID 11 is 42.7 meters away at (-41.0, -12.1). A vehicle with ID 32 is 52.1 meters away at (52.0, -3.7). A vehicle with ID 29 is 55.4 meters away at (-45.6, -31.6). A vehicle with ID 40 is 58.5 meters away at (-47.5, -34.1). A vehicle with ID 34 is 79.2 meters away at (62.0, -49.2).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.3080344  3.8567352] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.2391644  -0.52092844] m/s.The vehicle with ID 37 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 [ 1.0088065 -0.9415276] m/s.The vehicle with ID 32 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 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 [-7.447157  3.703654] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.5) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A pedestrian with ID 39 is 23.9 meters away at (-13.0, 20.1). A vehicle with ID 9 is 28.1 meters away at (-18.6, 21.0). A vehicle with ID 36 is 31.1 meters away at (23.3, -20.6). A pedestrian with ID 11 is 37.0 meters away at (-30.3, -21.3). A unknown object with ID 17 is 38.7 meters away at (-15.9, -35.2). A vehicle with ID 37 is 39.0 meters away at (-19.6, -33.7). A unknown object with ID 31 is 41.0 meters away at (-41.0, -2.4). A vehicle with ID 15 is 55.5 meters away at (-33.6, -44.1). A vehicle with ID 40 is 56.4 meters away at (-38.6, -41.2). A vehicle with ID 18 is 61.7 meters away at (-40.9, -46.3).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.72479784 -0.67085826] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.0809596  2.6684873] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.90281355 -0.9243846 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [-13.013995  20.10083 ], 23.9459285736084 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.7) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 39 is 8.0 meters away at (0.3, 8.0). A vehicle with ID 9 is 12.5 meters away at (-6.8, 10.5). A unknown object with ID 23 is 33.1 meters away at (-14.3, -29.9). A pedestrian with ID 11 is 37.6 meters away at (-16.8, -33.6). A vehicle with ID 36 is 39.1 meters away at (29.3, -25.8). A vehicle with ID 37 is 44.7 meters away at (-7.7, -44.0). A vehicle with ID 20 is 58.7 meters away at (-18.9, -55.6). A vehicle with ID 15 is 58.9 meters away at (-22.1, -54.6). A vehicle with ID 33 is 75.7 meters away at (72.7, -21.2).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.50354654 -1.099851  ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.50469875 -0.9483166 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.9704049  2.4657106] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 10.5) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 7 is 40.1 meters away at (21.6, -33.8). A vehicle with ID 8 is 51.4 meters away at (28.6, -42.7). A vehicle with ID 4 is 62.2 meters away at (32.2, -53.3).

The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.5641219 -0.9062596] m/s.The vehicle with ID 8 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 [ 1.6638051 -2.2286716] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 7 is 68.1 meters away at (38.9, -55.9).

The vehicle 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 (-8.2, 10.3) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A vehicle with ID 6 is 36.1 meters away at (-24.7, 26.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.856627 -12.791219] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 8.5) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A vehicle with ID 6 is 20.0 meters away at (9.8, -17.4). A unknown object with ID 2 is 60.6 meters away at (-45.4, 40.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.303632 -11.702155] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-9.0, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.2). A vehicle with ID 20 is 26.2 meters away at (-2.6, 26.1). A cyclist with ID 17 is 27.1 meters away at (-6.6, 26.3). A vehicle with ID 21 is 30.1 meters away at (-2.5, 30.0). A vehicle with ID 38 is 32.5 meters away at (32.4, 2.2). A vehicle with ID 32 is 33.9 meters away at (32.6, 9.4).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [0.00103083 0.00402703] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.2638619 -0.545045 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-8.232219 -5.667497], 9.99449634552002 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 1.19

The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.1). A vehicle with ID 20 is 25.8 meters away at (-1.8, 25.7). A cyclist with ID 17 is 27.0 meters away at (-6.4, 26.3). A vehicle with ID 21 is 29.5 meters away at (-1.4, 29.5). A vehicle with ID 38 is 31.7 meters away at (31.6, 2.5). A vehicle with ID 32 is 33.7 meters away at (32.4, 9.4).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.962008   -0.43646276] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.28850862 -0.14903016] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.915089   -0.40819138] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.1829844  0.4960032] m/s.The vehicle with ID 32 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 [-8.218862 -5.661647], 9.98017692565918 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 1.19

The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.3 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.2). A vehicle with ID 20 is 24.3 meters away at (1.3, 24.3). A cyclist with ID 17 is 25.6 meters away at (-4.0, 25.3). A vehicle with ID 38 is 26.6 meters away at (26.2, 4.9). A vehicle with ID 21 is 27.9 meters away at (2.3, 27.8). A cyclist with ID 13 is 28.7 meters away at (-6.3, 28.0).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 [ 1.9428838 -0.9547858] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 1.5046872 -0.5159758] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.174416   1.7427608] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.6014397 -1.2286676] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 1.0325596  -0.48204756] m/s.

There are active red lights at the following coordinates: [[ 5.180181 13.892233]
 [ 8.496457 12.704961]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-8.216256 -5.659415], 9.976764678955078 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 1.19

The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A vehicle with ID 38 is 18.1 meters away at (15.4, 9.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.1). A vehicle with ID 20 is 23.0 meters away at (4.9, 22.4). A cyclist with ID 17 is 24.2 meters away at (-0.5, 24.2). A vehicle with ID 21 is 26.3 meters away at (7.4, 25.3). A cyclist with ID 13 is 26.4 meters away at (-3.1, 26.2).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.4487486  2.80044  ] m/s.The unknown object with ID 26 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 [ 1.539687   -0.84954315] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 1.5556718 -0.6283171] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.4449127 -1.3324155] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 1.3652267 -0.6503669] m/s.

There are active red lights at the following coordinates: [[ 5.180181 13.892233]
 [ 8.496457 12.704961]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-8.223569  -5.6722326], 9.990060806274414 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-3.5, -1.3). A cyclist with ID 59 is 5.1 meters away at (0.2, -5.0). A pedestrian with ID 65 is 16.8 meters away at (1.8, 16.7). A pedestrian with ID 66 is 17.6 meters away at (1.7, 17.6). A vehicle with ID 67 is 19.2 meters away at (17.1, -8.6). A vehicle with ID 73 is 21.7 meters away at (-9.2, 19.6). A vehicle with ID 69 is 25.4 meters away at (21.9, -12.8). A vehicle with ID 64 is 26.0 meters away at (-8.7, 24.5). A vehicle with ID 70 is 30.8 meters away at (26.1, -16.5). A unknown object with ID 40 is 31.1 meters away at (-25.5, -18.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.01352062 -0.02385148] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00119435 -0.01241905] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00525773 0.00406106] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-7.0638456 -5.584452 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.47

The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.1 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.9, 16.6). A pedestrian with ID 66 is 17.6 meters away at (1.7, 17.6). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.7). A vehicle with ID 69 is 25.4 meters away at (22.0, -12.8). A vehicle with ID 64 is 25.9 meters away at (-8.6, 24.4). A vehicle with ID 73 is 29.4 meters away at (-25.8, 14.1). A pedestrian with ID 68 is 29.9 meters away at (-28.6, -8.9). A vehicle with ID 70 is 30.9 meters away at (26.1, -16.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.00331556 -0.00288495] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00220554 -0.0005992 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.00642592 -0.00591584] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-9.148571   0.3216875] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.58571863 1.1270536 ] m/s.The vehicle with ID 70 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 2.47

The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.1 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.9, 16.6). A pedestrian with ID 66 is 17.6 meters away at (1.8, 17.5). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.7). A vehicle with ID 69 is 25.5 meters away at (22.0, -12.8). A vehicle with ID 64 is 25.8 meters away at (-8.6, 24.4). A pedestrian with ID 68 is 28.3 meters away at (-27.6, -6.6). A vehicle with ID 5 is 29.8 meters away at (22.7, -19.3). A vehicle with ID 70 is 31.0 meters away at (26.2, -16.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [0.00127359 0.0030749 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00508466 -0.01012052] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00109109 0.00313958] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.4769417 1.2339348] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.429148  5.262226] m/s.The vehicle with ID 70 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 2.47

The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.2 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.7, 16.6). A vehicle with ID 5 is 17.5 meters away at (13.1, -11.6). A pedestrian with ID 66 is 17.6 meters away at (1.8, 17.5). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.8). A vehicle with ID 69 is 25.5 meters away at (22.0, -12.9). A vehicle with ID 64 is 25.8 meters away at (-8.6, 24.3). A pedestrian with ID 68 is 26.5 meters away at (-26.1, -4.8). A vehicle with ID 70 is 31.1 meters away at (26.2, -16.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.00047953 -0.00157492] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.23613708  0.05919531] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.4445949  2.8121896] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.02128962  0.04682083] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.99334115 0.7725792 ] m/s.The vehicle with ID 70 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 (0.4, -0.4) m/s. Its current heading (yaw) is -0.79

The most relevant actors are: A vehicle with ID 38 is 5.4 meters away at (-5.2, 1.2). A vehicle with ID 39 is 10.0 meters away at (-8.8, 4.8). A vehicle with ID 40 is 10.8 meters away at (-0.8, 10.8). A unknown object with ID 41 is 11.0 meters away at (1.8, 10.8). A vehicle with ID 13 is 12.0 meters away at (-8.2, 8.7). A vehicle with ID 46 is 14.3 meters away at (9.4, -10.7). A vehicle with ID 43 is 14.9 meters away at (-12.3, 8.4). A vehicle with ID 44 is 15.6 meters away at (-5.1, 14.8). A vehicle with ID 36 is 17.8 meters away at (-2.0, -17.7). A vehicle with ID 53 is 18.5 meters away at (14.9, 11.0).

The vehicle with ID 38 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.46792373 -0.455141  ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [3.1178768 4.710503 ] 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.79

The most relevant actors are: A vehicle with ID 38 is 5.6 meters away at (-5.4, 1.3). A vehicle with ID 39 is 10.2 meters away at (-8.9, 4.9). A vehicle with ID 40 is 11.0 meters away at (-1.0, 10.9). A unknown object with ID 41 is 11.0 meters away at (1.6, 10.9). A vehicle with ID 13 is 11.3 meters away at (-7.7, 8.2). A vehicle with ID 43 is 15.2 meters away at (-12.5, 8.6). A vehicle with ID 46 is 15.8 meters away at (15.8, -0.2). A vehicle with ID 44 is 15.8 meters away at (-5.3, 14.9). A vehicle with ID 36 is 17.6 meters away at (-2.1, -17.5). A vehicle with ID 53 is 18.5 meters away at (14.7, 11.1).

The vehicle with ID 38 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.31934175 -0.30329084] 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 [3.3719192 5.750477 ] m/s.The vehicle with ID 44 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 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 (1.5, -1.5) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A vehicle with ID 38 is 6.8 meters away at (-6.4, 2.3). A vehicle with ID 39 is 11.4 meters away at (-9.8, 5.8). A vehicle with ID 13 is 11.5 meters away at (-7.9, 8.3). A unknown object with ID 41 is 11.8 meters away at (0.7, 11.8). A vehicle with ID 40 is 12.0 meters away at (-1.9, 11.9). A vehicle with ID 43 is 16.4 meters away at (-13.4, 9.4). A vehicle with ID 36 is 16.9 meters away at (-3.1, -16.6). A vehicle with ID 44 is 17.0 meters away at (-6.2, 15.8). A pedestrian with ID 29 is 18.2 meters away at (14.9, 10.4). A vehicle with ID 53 is 18.2 meters away at (13.8, 12.0).

The vehicle with ID 38 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 13 is traveling at a (x, y) velocity of [ 0.5113582  -0.49639973] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00743561 -0.00222825] m/s.The vehicle with ID 53 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 (0.8, -4.2) m/s. Its current heading (yaw) is -1.38

The most relevant actors are: A vehicle with ID 36 is 12.7 meters away at (-6.5, -10.9). A vehicle with ID 38 is 12.7 meters away at (-9.9, 8.0). A vehicle with ID 13 is 14.5 meters away at (-8.9, 11.5). A vehicle with ID 39 is 17.6 meters away at (-13.4, 11.5). A unknown object with ID 41 is 17.8 meters away at (-2.8, 17.6). A vehicle with ID 9 is 18.3 meters away at (-9.3, -15.7). A vehicle with ID 40 is 18.4 meters away at (-5.5, 17.6). A vehicle with ID 53 is 20.5 meters away at (10.3, 17.8). A vehicle with ID 37 is 22.2 meters away at (-5.5, -21.5). A vehicle with ID 43 is 22.8 meters away at (-17.0, 15.2).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.130963  -2.0738614] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 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 53 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 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 (-2.8, 9.1) m/s. Its current heading (yaw) is 1.87

The most relevant actors are: A vehicle with ID 19 is 45.6 meters away at (-9.5, 44.6). A vehicle with ID 14 is 70.3 meters away at (-15.5, 68.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.3) m/s. Its current heading (yaw) is 1.82

The most relevant actors are: A vehicle with ID 19 is 26.5 meters away at (-3.9, 26.2). A vehicle with ID 14 is 51.1 meters away at (-10.0, 50.1).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0.3571424  0.16214046] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.5) m/s. Its current heading (yaw) is 1.82

The most relevant actors are: A vehicle with ID 19 is 7.8 meters away at (1.4, 7.6). A vehicle with ID 14 is 31.9 meters away at (-4.7, 31.5). A unknown object with ID 15 is 70.5 meters away at (-27.3, 65.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0.14120845 0.26987678] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.2967074  0.13784383] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.4) m/s. Its current heading (yaw) is 1.82

The most relevant actors are: A vehicle with ID 19 is 12.8 meters away at (6.6, -10.9). A vehicle with ID 14 is 12.9 meters away at (0.6, 12.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 6.3) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A vehicle with ID 5 is 35.1 meters away at (-20.4, 28.5). A unknown object with ID 15 is 52.8 meters away at (45.8, -26.3). A vehicle with ID 2 is 80.8 meters away at (55.9, -58.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.029914  8.051596] m/s.The unknown object with ID 15 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 [-9.166738  7.693055] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 6.1) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A vehicle with ID 5 is 34.6 meters away at (-15.1, 31.2). A vehicle with ID 2 is 73.0 meters away at (48.1, -54.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1826587  7.212195 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.573625  8.04877 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 6.6) m/s. Its current heading (yaw) is 2.03

The most relevant actors are: A pedestrian with ID 17 is 12.0 meters away at (-10.8, 5.1). A vehicle with ID 5 is 33.6 meters away at (-12.6, 31.1). A vehicle with ID 2 is 65.6 meters away at (40.1, -51.9).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.2953782 -1.0022715] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.643728  5.100037] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.526957   7.5280457] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 6.8) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A pedestrian with ID 17 is 11.6 meters away at (-5.0, -10.5). A vehicle with ID 5 is 31.0 meters away at (-16.7, 26.0). A vehicle with ID 2 is 59.2 meters away at (31.3, -50.2). A vehicle with ID 4 is 78.8 meters away at (44.8, -64.7).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.21408358 -1.0240011 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.6359944  3.7714608] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.4130244  7.792507 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.139026  7.567165] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.2) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 25 is 8.5 meters away at (2.5, 8.1). A vehicle with ID 27 is 29.4 meters away at (-29.1, -4.0). A vehicle with ID 29 is 31.3 meters away at (17.4, 26.0). A vehicle with ID 30 is 36.4 meters away at (-16.1, -32.6). A vehicle with ID 31 is 37.4 meters away at (-21.3, -30.7). A unknown object with ID 32 is 38.7 meters away at (-6.0, -38.2). A vehicle with ID 28 is 40.8 meters away at (-40.3, 6.0). A vehicle with ID 34 is 46.1 meters away at (-25.2, -38.6). A vehicle with ID 26 is 46.6 meters away at (-43.6, 16.5). A vehicle with ID 35 is 51.6 meters away at (-32.2, -40.4).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.9144926 -2.3113544] m/s.The vehicle with ID 29 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 [1.5216101 1.0259693] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.74949396 0.6334693 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.4837139 -2.801571 ] m/s.The vehicle with ID 34 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 [-12.716213  10.610763] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.32265684 0.07102966] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -2.0) m/s. Its current heading (yaw) is -2.56

The most relevant actors are: A vehicle with ID 25 is 12.1 meters away at (5.8, 10.6). A vehicle with ID 27 is 22.6 meters away at (-22.1, -4.6). A vehicle with ID 30 is 27.7 meters away at (-6.4, -27.0). A vehicle with ID 31 is 28.9 meters away at (-14.4, -25.0). A vehicle with ID 28 is 32.1 meters away at (-31.9, 4.1). A vehicle with ID 29 is 35.2 meters away at (20.7, 28.5). A unknown object with ID 32 is 35.7 meters away at (-2.6, -35.6). A vehicle with ID 34 is 40.8 meters away at (-20.4, -35.3). A vehicle with ID 33 is 42.8 meters away at (-41.1, 11.9). A vehicle with ID 35 is 46.8 meters away at (-27.6, -37.8).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.0998347 -0.9075971] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [4.8252425  0.79555506] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [3.2142956 3.0363255] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.8451624 -1.5591487] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [2.5714033 1.8348297] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.0377388 -2.5935805] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [1.2451872  0.17778194] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 1.5) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A vehicle with ID 27 is 12.7 meters away at (-12.1, -3.7). A vehicle with ID 31 is 14.6 meters away at (2.8, -14.4). A vehicle with ID 25 is 19.2 meters away at (14.6, 12.4). A vehicle with ID 28 is 21.0 meters away at (-20.7, 3.9). A vehicle with ID 34 is 27.5 meters away at (-3.1, -27.3). A vehicle with ID 33 is 29.5 meters away at (-27.8, 9.8). A vehicle with ID 30 is 31.6 meters away at (13.5, -28.6). A unknown object with ID 32 is 34.3 meters away at (6.6, -33.7). A vehicle with ID 35 is 37.4 meters away at (-14.1, -34.6). A vehicle with ID 3 is 42.2 meters away at (-38.0, 18.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [4.682415 5.687454] m/s.The vehicle with ID 25 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 [ 0.52795464 -0.43239114] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.502226 2.801144] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 1.2859802 -1.074195 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.1561594 -4.367134 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [3.685898  1.9658484] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.2612214 -2.716586 ] m/s.

There are active red lights at the following coordinates: [[-10.44341    -6.2000237]
 [-10.954841   -4.6356883]]

Instruction: Slight right turn approaching.