The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 88 is 6.4 meters away at (3.8, -5.1). A pedestrian with ID 23 is 13.1 meters away at (-0.2, 13.1). A vehicle with ID 67 is 15.0 meters away at (-13.7, 6.0). A vehicle with ID 69 is 18.0 meters away at (12.0, -13.4). A pedestrian with ID 65 is 19.3 meters away at (19.2, -2.1). A pedestrian with ID 64 is 19.8 meters away at (19.7, -1.4). A pedestrian with ID 43 is 20.5 meters away at (15.9, 12.9). A vehicle with ID 77 is 20.5 meters away at (-18.9, 8.0). A vehicle with ID 60 is 21.0 meters away at (7.8, 19.5). A vehicle with ID 72 is 23.7 meters away at (17.9, -15.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [-4.597278   -0.82954305] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01163947  0.0665689 ] 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 pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0734668  -0.27529755] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.1052998  -0.22235923] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.01126604 0.02845342] m/s.The vehicle with ID 77 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.5) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A unknown object with ID 39 is 2.4 meters away at (2.4, -0.5). A unknown object with ID 50 is 3.2 meters away at (2.5, -2.1). A vehicle with ID 60 is 8.9 meters away at (-1.3, 8.8). A pedestrian with ID 23 is 9.8 meters away at (-9.4, 2.5). A unknown object with ID 20 is 11.3 meters away at (8.9, 7.0). A vehicle with ID 61 is 13.5 meters away at (2.7, 13.2). A pedestrian with ID 64 is 17.8 meters away at (12.7, -12.5). A pedestrian with ID 65 is 18.1 meters away at (12.3, -13.3). A unknown object with ID 58 is 19.5 meters away at (14.3, 13.3). A vehicle with ID 62 is 19.6 meters away at (6.9, 18.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.02427831 0.01181064] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.0754976  -0.22157434] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1253253  -0.14564504] m/s.The unknown object with ID 58 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: right u-turn approaching.

(The closest actor is a unknown object at [ 2.3915997 -0.5220642], 2.4479174613952637 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 1.6) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A pedestrian with ID 32 is 15.8 meters away at (-15.7, 1.4). A vehicle with ID 34 is 19.7 meters away at (-19.6, 1.8). A vehicle with ID 2 is 26.4 meters away at (25.8, 5.3). A vehicle with ID 31 is 33.9 meters away at (25.5, -22.3). A unknown object with ID 36 is 35.6 meters away at (-28.2, 21.8). A vehicle with ID 33 is 35.7 meters away at (30.2, -19.1). A unknown object with ID 37 is 36.4 meters away at (-29.5, 21.3). A unknown object with ID 38 is 37.4 meters away at (-30.6, 21.6).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.01094383 -0.09872404] m/s.The vehicle with ID 34 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 [-2.571172  -3.5775633] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.2969912 -4.6450853] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.4) m/s. Its current heading (yaw) is 2.87

The most relevant actors are: A pedestrian with ID 32 is 6.2 meters away at (-5.9, -1.9). A vehicle with ID 34 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 36 is 26.2 meters away at (-18.3, 18.7). A unknown object with ID 38 is 27.7 meters away at (-20.7, 18.4). A vehicle with ID 2 is 27.9 meters away at (27.6, -3.5). A vehicle with ID 31 is 43.6 meters away at (35.3, -25.6). A vehicle with ID 33 is 52.0 meters away at (39.6, -33.7).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00275673 -0.00572231] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.1336346 -1.2351354] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.30498266 -6.5311036 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.1) m/s. Its current heading (yaw) is 2.95

The most relevant actors are: A vehicle with ID 34 is 4.2 meters away at (1.3, -4.0). A pedestrian with ID 32 is 6.7 meters away at (5.2, -4.1). A vehicle with ID 2 is 28.3 meters away at (27.9, -5.2). A vehicle with ID 31 is 54.3 meters away at (46.4, -28.2).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07593254 0.10144311] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.8337264  1.3966566] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.7) m/s. Its current heading (yaw) is 3.03

The most relevant actors are: A vehicle with ID 34 is 14.8 meters away at (13.6, -6.0). A vehicle with ID 2 is 28.1 meters away at (27.7, -4.3).

The vehicle with ID 34 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 [-6.500073  1.401302] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -10.8) m/s. Its current heading (yaw) is -0.97

The most relevant actors are: A vehicle with ID 3 is 41.1 meters away at (-20.4, 35.7). A vehicle with ID 4 is 60.7 meters away at (-40.7, 45.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -11.5) m/s. Its current heading (yaw) is -1.08

The most relevant actors are: A vehicle with ID 3 is 67.1 meters away at (-34.3, 57.7). A vehicle with ID 1 is 67.7 meters away at (32.9, -59.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.3) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A vehicle with ID 1 is 41.3 meters away at (21.6, -35.3). A pedestrian with ID 2 is 51.8 meters away at (29.1, -42.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.1833067  0.26095554] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.7) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A vehicle with ID 1 is 15.0 meters away at (11.0, -10.2). A pedestrian with ID 2 is 24.5 meters away at (17.6, -17.2).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.29840598  0.18808126] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 42 is 49.5 meters away at (-37.1, 32.8). A unknown object with ID 39 is 50.5 meters away at (-39.1, 31.9). A unknown object with ID 37 is 52.1 meters away at (-41.4, 31.6). A unknown object with ID 38 is 54.0 meters away at (-43.2, 32.3). A unknown object with ID 40 is 55.9 meters away at (-45.0, 33.3). A unknown object with ID 41 is 57.3 meters away at (-46.3, 33.7). A vehicle with ID 44 is 58.3 meters away at (-45.7, 36.1). A unknown object with ID 43 is 59.7 meters away at (-48.5, 34.8). A unknown object with ID 3 is 61.3 meters away at (-50.0, 35.6). A unknown object with ID 1 is 62.5 meters away at (-50.7, 36.6).

The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-37.147022  32.76344 ], 49.531246185302734 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 3.2) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A unknown object with ID 35 is 23.7 meters away at (2.2, 23.6). A unknown object with ID 33 is 24.9 meters away at (-0.2, 24.9). A unknown object with ID 42 is 34.6 meters away at (-22.2, 26.6). A unknown object with ID 39 is 35.3 meters away at (-24.1, 25.7). A unknown object with ID 37 is 36.6 meters away at (-26.4, 25.4). A unknown object with ID 38 is 38.5 meters away at (-28.3, 26.1). A unknown object with ID 40 is 40.4 meters away at (-30.0, 27.0). A unknown object with ID 41 is 41.7 meters away at (-31.4, 27.4). A vehicle with ID 44 is 43.1 meters away at (-30.9, 30.0). A unknown object with ID 43 is 44.1 meters away at (-33.5, 28.6).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 unknown object with ID 43 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 [ 2.230978 23.587143], 23.692415237426758 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 39 is 21.4 meters away at (-8.9, 19.4). A unknown object with ID 42 is 21.4 meters away at (-7.0, 20.3). A unknown object with ID 37 is 22.1 meters away at (-11.2, 19.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8). A unknown object with ID 33 is 23.9 meters away at (15.1, 18.5). A unknown object with ID 35 is 24.5 meters away at (17.5, 17.2). A unknown object with ID 40 is 25.5 meters away at (-14.8, 20.8). A unknown object with ID 41 is 26.7 meters away at (-16.2, 21.2). A vehicle with ID 44 is 28.4 meters away at (-15.7, 23.7). A unknown object with ID 43 is 28.8 meters away at (-18.3, 22.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.935879 19.397598], 21.356889724731445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 2.8) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 37 is 13.3 meters away at (2.8, 13.0). A unknown object with ID 38 is 13.8 meters away at (0.9, 13.8). A unknown object with ID 39 is 14.3 meters away at (5.1, 13.3). A unknown object with ID 40 is 14.7 meters away at (-0.8, 14.7). A unknown object with ID 41 is 15.3 meters away at (-2.2, 15.1). A unknown object with ID 42 is 15.9 meters away at (7.0, 14.2). A unknown object with ID 43 is 16.8 meters away at (-4.3, 16.2). A vehicle with ID 31 is 17.1 meters away at (-7.0, 15.6). A vehicle with ID 44 is 17.8 meters away at (-1.7, 17.7). A unknown object with ID 3 is 18.0 meters away at (-5.7, 17.1).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 [12.561036 -5.222763] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.7810478 13.027559 ], 13.321093559265137 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.8) m/s. Its current heading (yaw) is 0.53

The most relevant actors are: A cyclist with ID 38 is 19.4 meters away at (13.5, 13.9). A vehicle with ID 40 is 22.4 meters away at (-1.0, -22.3). A pedestrian with ID 42 is 30.0 meters away at (-13.4, -26.8). A pedestrian with ID 43 is 30.0 meters away at (-12.7, -27.1). A unknown object with ID 13 is 33.1 meters away at (29.6, -14.8). A unknown object with ID 50 is 33.1 meters away at (31.6, -10.0). A vehicle with ID 41 is 34.2 meters away at (0.3, -34.2). A unknown object with ID 51 is 34.4 meters away at (29.9, -17.0). A pedestrian with ID 45 is 35.6 meters away at (-15.5, -32.0). A vehicle with ID 37 is 37.2 meters away at (-36.6, 6.5).

The cyclist with ID 38 is traveling at a (x, y) velocity of [3.6315775 8.675071 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.6683443 -4.0709815] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.30731595 0.46544838] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.3664565 0.5551806] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.8185078 -5.4112544] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.78664964 -1.0278257 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.5585866 -2.9920607] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.3) m/s. Its current heading (yaw) is 0.96

The most relevant actors are: A pedestrian with ID 31 is 12.5 meters away at (-1.2, 12.4). A vehicle with ID 37 is 28.9 meters away at (-28.6, -4.4). A unknown object with ID 50 is 30.3 meters away at (26.2, -15.0). A unknown object with ID 13 is 31.4 meters away at (24.3, -19.8). A cyclist with ID 38 is 32.5 meters away at (15.7, 28.4). A unknown object with ID 51 is 33.1 meters away at (24.6, -22.1). A pedestrian with ID 43 is 36.5 meters away at (-18.0, -31.8). A pedestrian with ID 42 is 36.7 meters away at (-18.7, -31.6). A vehicle with ID 40 is 37.0 meters away at (-5.4, -36.6). A pedestrian with ID 52 is 44.0 meters away at (3.3, -43.8).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.52443296 1.1462998 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 5.7359924 -2.2179737] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 3.852272 10.482231] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0183848   0.02220686] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.02385666  0.00578638] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.71089154 -4.7812905 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.01241669 0.00758312] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.7) m/s. Its current heading (yaw) is 1.15

The most relevant actors are: A vehicle with ID 37 is 27.8 meters away at (-23.5, -14.9). A unknown object with ID 50 is 31.5 meters away at (22.0, -22.5). A unknown object with ID 13 is 33.9 meters away at (20.1, -27.3). A unknown object with ID 51 is 35.9 meters away at (20.4, -29.5). A pedestrian with ID 43 is 45.1 meters away at (-22.1, -39.2). A pedestrian with ID 42 is 45.1 meters away at (-22.4, -39.1). A pedestrian with ID 62 is 46.4 meters away at (11.6, 44.9). A pedestrian with ID 60 is 46.7 meters away at (13.3, 44.8). A cyclist with ID 38 is 47.2 meters away at (19.5, 43.0). A pedestrian with ID 63 is 47.3 meters away at (11.8, 45.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.89755    -0.67312473] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.0449307  -0.01020992] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.05461572 -0.009309  ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3863971  -0.04125324] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.409761    0.32703477] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 4.2179246 11.439051 ] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.286624   0.0094133] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 4.7) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A pedestrian with ID 25 is 7.2 meters away at (-7.1, 0.9). A vehicle with ID 37 is 31.4 meters away at (-20.2, -24.0). A unknown object with ID 50 is 36.4 meters away at (18.2, -31.5). A pedestrian with ID 62 is 36.7 meters away at (4.8, 36.4). A pedestrian with ID 60 is 37.3 meters away at (6.7, 36.7). A pedestrian with ID 63 is 37.5 meters away at (5.3, 37.1). A pedestrian with ID 14 is 42.4 meters away at (33.0, 26.5). A vehicle with ID 4 is 47.2 meters away at (-43.1, -19.5). A pedestrian with ID 43 is 54.9 meters away at (-25.9, -48.4). A pedestrian with ID 42 is 54.9 meters away at (-26.3, -48.2).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.6208602 1.2235613] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [3.7394094 0.7031784] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2356111  0.5687662] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.3352621   0.47897324] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.2019999  0.5656914] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04441084  0.00080242] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 7.176956 -2.73146 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.04701344 -0.01566129] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.05284016  0.01755015] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.4) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A unknown object with ID 15 is 14.0 meters away at (13.9, 1.8). A unknown object with ID 17 is 15.7 meters away at (15.2, 3.8). A unknown object with ID 18 is 17.0 meters away at (16.1, 5.6). A unknown object with ID 16 is 18.9 meters away at (17.6, 6.8). A unknown object with ID 8 is 29.9 meters away at (9.0, -28.5). A vehicle with ID 24 is 35.4 meters away at (-34.1, -9.8). A cyclist with ID 26 is 37.4 meters away at (-35.0, -13.2). A vehicle with ID 28 is 40.5 meters away at (-40.3, -3.6). A unknown object with ID 21 is 42.2 meters away at (33.1, 26.3). A unknown object with ID 7 is 43.7 meters away at (34.4, 26.9).

The unknown object with ID 15 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.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 vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00105799 -0.00911833] m/s.The vehicle with ID 28 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 7 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 [13.934517  1.779314], 14.047658920288086 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.7) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A unknown object with ID 15 is 22.1 meters away at (20.2, 8.8). A unknown object with ID 17 is 24.1 meters away at (21.6, 10.8). A unknown object with ID 18 is 25.8 meters away at (22.5, 12.6). A unknown object with ID 16 is 27.7 meters away at (24.0, 13.8). A vehicle with ID 24 is 27.9 meters away at (-27.8, -2.5). A cyclist with ID 26 is 29.3 meters away at (-28.7, -5.9). A vehicle with ID 28 is 34.1 meters away at (-33.9, 3.7). A vehicle with ID 27 is 38.1 meters away at (-6.5, -37.5). A cyclist with ID 14 is 38.7 meters away at (-38.1, 6.8). A vehicle with ID 29 is 41.7 meters away at (-8.3, -40.8).

The unknown object with ID 15 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.The unknown object with ID 16 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 cyclist with ID 26 is traveling at a (x, y) velocity of [-0.03230302  0.03902192] 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.The cyclist with ID 14 is traveling at a (x, y) velocity of [0.0291296  0.03030999] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.5698788   0.50549746] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [20.206015  8.838661], 22.054590225219727 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A vehicle with ID 24 is 25.2 meters away at (-25.2, 0.7). A unknown object with ID 15 is 25.8 meters away at (22.8, 12.1). A cyclist with ID 26 is 26.2 meters away at (-26.1, -2.7). A unknown object with ID 17 is 28.0 meters away at (24.2, 14.1). A unknown object with ID 18 is 29.7 meters away at (25.1, 15.8). A unknown object with ID 16 is 31.6 meters away at (26.6, 17.0). A vehicle with ID 28 is 32.1 meters away at (-31.3, 6.9). A vehicle with ID 27 is 34.5 meters away at (-3.9, -34.3). A cyclist with ID 14 is 36.9 meters away at (-35.5, 10.1). A vehicle with ID 29 is 37.8 meters away at (-5.9, -37.4).

The vehicle with ID 24 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 cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00187983 -0.00629992] 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.The unknown object with ID 16 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.The cyclist with ID 14 is traveling at a (x, y) velocity of [ 0.01920579 -0.03860158] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A vehicle with ID 24 is 24.9 meters away at (-24.9, 0.9). A cyclist with ID 26 is 25.9 meters away at (-25.7, -2.6). A unknown object with ID 15 is 26.2 meters away at (23.1, 12.3). A unknown object with ID 17 is 28.3 meters away at (24.4, 14.3). A unknown object with ID 18 is 29.9 meters away at (25.2, 16.0). A vehicle with ID 28 is 31.9 meters away at (-31.1, 7.1). A vehicle with ID 27 is 34.2 meters away at (-3.7, -34.0). A vehicle with ID 1 is 36.0 meters away at (2.7, -35.9). A cyclist with ID 14 is 36.8 meters away at (-35.3, 10.3). A vehicle with ID 29 is 37.3 meters away at (-5.9, -36.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.5265211  -0.41545025] 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 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.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 [-0.330191    0.32214403] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.0713336  2.8809943] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [-0.03652999 -0.02672538] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.68106836  0.67040974] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.4) m/s. Its current heading (yaw) is 2.03

The most relevant actors are: A vehicle with ID 57 is 8.6 meters away at (7.4, 4.5). A pedestrian with ID 58 is 9.6 meters away at (5.2, 8.1). A unknown object with ID 59 is 10.7 meters away at (-0.4, 10.7). A pedestrian with ID 60 is 11.5 meters away at (-4.3, 10.7). A vehicle with ID 64 is 13.6 meters away at (-1.7, 13.5). A vehicle with ID 20 is 14.3 meters away at (-3.3, -13.9). A vehicle with ID 55 is 16.3 meters away at (-1.8, -16.2). A vehicle with ID 52 is 17.1 meters away at (-9.2, 14.4). A vehicle with ID 56 is 18.2 meters away at (0.3, -18.2). A unknown object with ID 45 is 19.2 meters away at (19.1, -2.2).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.93017167 0.7441271 ] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5246306 0.7027307] m/s.The vehicle with ID 64 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 [0.8603677 1.322028 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 60 is 5.7 meters away at (2.2, 5.3). A unknown object with ID 59 is 6.4 meters away at (5.0, 4.1). A vehicle with ID 64 is 7.8 meters away at (3.6, 7.0). A vehicle with ID 52 is 8.7 meters away at (-3.8, 7.8). A pedestrian with ID 58 is 13.1 meters away at (12.8, 2.9). A vehicle with ID 57 is 13.3 meters away at (13.2, -1.8). A vehicle with ID 20 is 17.7 meters away at (4.6, -17.1). A vehicle with ID 55 is 23.2 meters away at (3.6, -22.9). A pedestrian with ID 68 is 23.2 meters away at (-9.6, -21.2). A vehicle with ID 53 is 24.3 meters away at (-14.4, 19.6).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5683521 0.4088811] m/s.The unknown object with ID 59 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.9055052  0.58207583] m/s.The vehicle with ID 57 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 [1.3291494 1.8813072] m/s.The vehicle with ID 55 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 [0.81588703 1.1313401 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [2.1882143 5.292062 ], 5.726622104644775 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.4) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A vehicle with ID 52 is 5.1 meters away at (4.9, 1.3). A pedestrian with ID 54 is 14.0 meters away at (-7.6, 11.8). A vehicle with ID 53 is 14.4 meters away at (-5.9, 13.1). A vehicle with ID 51 is 17.9 meters away at (-11.6, 13.7). A vehicle with ID 57 is 23.5 meters away at (22.0, -8.3). A vehicle with ID 20 is 26.0 meters away at (15.0, -21.2). A vehicle with ID 55 is 31.8 meters away at (12.3, -29.3). A vehicle with ID 56 is 34.5 meters away at (14.5, -31.3). A unknown object with ID 92 is 41.8 meters away at (-32.8, 25.9). A vehicle with ID 78 is 51.3 meters away at (-44.9, 24.8).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.17246883 -0.5682704 ] m/s.The vehicle with ID 53 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 57 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 [0.5863398  0.97234905] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.3) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A pedestrian with ID 54 is 3.7 meters away at (1.2, 3.5). A vehicle with ID 53 is 7.3 meters away at (3.3, 6.4). A vehicle with ID 51 is 7.4 meters away at (-2.4, 7.0). A vehicle with ID 52 is 15.2 meters away at (14.2, -5.4). A unknown object with ID 92 is 30.4 meters away at (-23.6, 19.1). A unknown object with ID 44 is 34.5 meters away at (-34.3, 3.1). A vehicle with ID 20 is 35.6 meters away at (25.4, -24.9). A vehicle with ID 78 is 40.0 meters away at (-35.7, 18.0). A unknown object with ID 6 is 41.2 meters away at (-38.6, 14.6). A unknown object with ID 8 is 42.4 meters away at (-40.8, 11.6).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.48935398 -0.8694238 ] m/s.The vehicle with ID 53 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.18848047 2.424596  ] m/s.The vehicle with ID 78 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 8 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 (5.7, -1.9) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A unknown object with ID 71 is 18.7 meters away at (-5.4, -17.9). A unknown object with ID 20 is 19.4 meters away at (-1.7, -19.3). A unknown object with ID 43 is 21.0 meters away at (2.1, -20.9). A unknown object with ID 16 is 22.9 meters away at (5.4, -22.2). A unknown object with ID 68 is 24.9 meters away at (8.1, -23.5). A unknown object with ID 72 is 26.6 meters away at (10.4, -24.5). A unknown object with ID 74 is 28.1 meters away at (12.2, -25.3). A unknown object with ID 75 is 29.6 meters away at (14.0, -26.1). A unknown object with ID 76 is 31.0 meters away at (15.5, -26.8). A vehicle with ID 73 is 45.2 meters away at (-28.6, 35.0).

The unknown object with ID 71 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 43 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A unknown object with ID 16 is 19.1 meters away at (-6.0, -18.1). A unknown object with ID 43 is 19.2 meters away at (-9.4, -16.8). A unknown object with ID 45 is 19.4 meters away at (-16.5, 10.1). A unknown object with ID 68 is 19.6 meters away at (-3.3, -19.4). A unknown object with ID 20 is 20.1 meters away at (-13.2, -15.2). A unknown object with ID 72 is 20.3 meters away at (-1.1, -20.3). A unknown object with ID 74 is 21.1 meters away at (0.7, -21.1). A unknown object with ID 71 is 21.7 meters away at (-16.8, -13.7). A unknown object with ID 75 is 22.0 meters away at (2.6, -21.9). A unknown object with ID 76 is 23.0 meters away at (4.1, -22.6).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ -6.0498714 -18.078362 ], 19.06378936767578 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.1) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A unknown object with ID 75 is 19.3 meters away at (-8.3, -17.5). A unknown object with ID 76 is 19.4 meters away at (-6.8, -18.2). A unknown object with ID 74 is 19.6 meters away at (-10.2, -16.7). A unknown object with ID 72 is 19.9 meters away at (-12.0, -15.9). A unknown object with ID 68 is 20.6 meters away at (-14.2, -15.0). A unknown object with ID 16 is 21.8 meters away at (-16.9, -13.7). A unknown object with ID 43 is 23.7 meters away at (-20.2, -12.3). A unknown object with ID 20 is 26.3 meters away at (-24.0, -10.8). A unknown object with ID 29 is 26.7 meters away at (0.3, -26.7). A unknown object with ID 71 is 29.2 meters away at (-27.7, -9.3).

The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 43 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ -8.300571 -17.476229], 19.347301483154297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.4) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A unknown object with ID 76 is 21.8 meters away at (-16.4, -14.3). A unknown object with ID 75 is 22.5 meters away at (-17.9, -13.6). A unknown object with ID 74 is 23.6 meters away at (-19.8, -12.8). A pedestrian with ID 79 is 24.4 meters away at (7.3, -23.2). A unknown object with ID 29 is 24.6 meters away at (-9.4, -22.8). A unknown object with ID 72 is 24.7 meters away at (-21.6, -12.0). A unknown object with ID 68 is 26.3 meters away at (-23.8, -11.0). A unknown object with ID 16 is 28.3 meters away at (-26.6, -9.7). A vehicle with ID 85 is 29.8 meters away at (29.5, -4.4). A vehicle with ID 52 is 30.8 meters away at (-9.6, -29.3).

The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.36853614 -1.185233  ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-16.41653   -14.3199005], 21.78444480895996 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.8) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 79 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 61 is 14.3 meters away at (1.2, 14.3). A unknown object with ID 78 is 14.4 meters away at (-12.9, 6.3). A unknown object with ID 76 is 17.1 meters away at (-15.1, 7.9). A unknown object with ID 77 is 25.7 meters away at (-22.4, 12.6). A vehicle with ID 48 is 30.6 meters away at (25.7, -16.6). A unknown object with ID 80 is 31.5 meters away at (-27.2, 15.8). A pedestrian with ID 46 is 36.5 meters away at (-36.4, -2.5). A pedestrian with ID 10 is 37.5 meters away at (-21.3, 30.9). A vehicle with ID 97 is 38.4 meters away at (-37.1, 10.0).

The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2486793  0.758521 ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 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 [-6.605412  4.386242] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.3888717 -0.766901 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0801425  0.6304904] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [ 9.934267  -6.2639923] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-9.016728   2.2696438], 9.297992706298828 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 4.5) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 76 is 1.7 meters away at (-1.1, -1.3). A unknown object with ID 78 is 3.1 meters away at (1.0, -2.9). A unknown object with ID 79 is 8.5 meters away at (5.0, -6.9). A unknown object with ID 77 is 9.0 meters away at (-8.3, 3.4). A vehicle with ID 97 is 12.5 meters away at (-2.9, -12.2). A pedestrian with ID 61 is 14.5 meters away at (12.8, 6.8). A unknown object with ID 80 is 14.7 meters away at (-13.2, 6.5). A unknown object with ID 88 is 18.3 meters away at (-11.0, 14.6). A unknown object with ID 2 is 23.8 meters away at (-16.6, 17.0). A pedestrian with ID 46 is 23.8 meters away at (-19.7, -13.4).

The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [10.270147 -6.610425] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.1379019  0.9102725] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 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 46 is traveling at a (x, y) velocity of [ 1.2139137  -0.66801536] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.0609493 -1.2946148], 1.673810362815857 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.0) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A unknown object with ID 80 is 1.8 meters away at (-0.7, -1.6). A unknown object with ID 77 is 6.2 meters away at (4.1, -4.7). A unknown object with ID 88 is 6.7 meters away at (1.4, 6.5). A unknown object with ID 3 is 8.2 meters away at (4.5, 6.8). A unknown object with ID 2 is 9.8 meters away at (-4.1, 8.9). A unknown object with ID 76 is 14.8 meters away at (11.3, -9.4). A pedestrian with ID 10 is 15.4 meters away at (3.1, 15.1). A pedestrian with ID 28 is 15.6 meters away at (-7.2, 13.9). A pedestrian with ID 5 is 17.4 meters away at (-14.4, -9.8). A unknown object with ID 7 is 17.5 meters away at (-5.4, 16.6).

The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.4830601   0.24388085] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.7783216  0.3967656] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.2390701   0.16455974] m/s.The unknown object 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 (-0.1, 0.1) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A unknown object with ID 80 is 4.5 meters away at (2.6, -3.7). A unknown object with ID 88 is 6.4 meters away at (4.7, 4.3). A unknown object with ID 2 is 6.8 meters away at (-0.9, 6.7). A unknown object with ID 3 is 9.1 meters away at (7.8, 4.7). A unknown object with ID 77 is 10.0 meters away at (7.4, -6.8). A vehicle with ID 117 is 12.9 meters away at (-10.7, -7.2). A pedestrian with ID 28 is 14.5 meters away at (-6.8, 12.8). A pedestrian with ID 10 is 14.6 meters away at (5.6, 13.5). A unknown object with ID 7 is 14.6 meters away at (-2.2, 14.5). A unknown object with ID 9 is 14.9 meters away at (-4.8, 14.1).

The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [10.581362  -6.9759665] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2803109   0.78991604] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.44350547  0.3847352 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 2.567749 -3.697256], 4.501448631286621 meters away.)


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 -0.72

The most relevant actors are: A unknown object with ID 69 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 59 is 11.4 meters away at (10.0, -5.3). A unknown object with ID 72 is 12.4 meters away at (5.6, -11.0). A vehicle with ID 66 is 14.6 meters away at (-12.9, 6.8). A unknown object with ID 61 is 19.0 meters away at (16.4, -9.6). A unknown object with ID 63 is 24.1 meters away at (15.6, -18.4). A pedestrian with ID 76 is 28.6 meters away at (27.1, -9.3). A pedestrian with ID 70 is 29.1 meters away at (27.8, -8.8). A vehicle with ID 68 is 29.4 meters away at (-25.6, 14.5). A vehicle with ID 74 is 30.3 meters away at (8.3, 29.2).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.9778511  0.7712463] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.9854655  0.7864413] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.53519726 -6.2993746 ], 6.32206916809082 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 59 is 3.9 meters away at (-0.6, 3.9). A unknown object with ID 72 is 5.4 meters away at (-5.1, -1.8). A unknown object with ID 61 is 5.6 meters away at (5.6, -0.4). A unknown object with ID 63 is 10.4 meters away at (4.9, -9.2). A unknown object with ID 69 is 10.6 meters away at (-10.2, 3.0). A pedestrian with ID 76 is 14.6 meters away at (14.5, 1.6). A pedestrian with ID 70 is 15.3 meters away at (15.1, 2.1). A unknown object with ID 58 is 23.1 meters away at (18.9, -13.4). A unknown object with ID 64 is 26.0 meters away at (17.1, -19.6). A vehicle with ID 66 is 28.5 meters away at (-23.5, 16.0).

The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0007826   0.75792164] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0426018   0.74825674] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.6378269  3.8767242], 3.9288437366485596 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.6) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 63 is 6.0 meters away at (-5.9, 0.2). A vehicle with ID 35 is 6.9 meters away at (1.2, 6.8). A pedestrian with ID 14 is 8.9 meters away at (8.7, -1.9). A unknown object with ID 58 is 9.0 meters away at (8.0, -4.0). A unknown object with ID 61 is 10.4 meters away at (-5.2, 9.0). A unknown object with ID 64 is 11.9 meters away at (6.2, -10.2). A pedestrian with ID 24 is 12.3 meters away at (9.3, 8.0). A pedestrian with ID 76 is 12.7 meters away at (1.7, 12.6). A pedestrian with ID 70 is 13.2 meters away at (2.4, 12.9). A unknown object with ID 59 is 17.6 meters away at (-11.5, 13.3).

The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01786503 -0.00315036] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 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 [0.0231592  0.00591802] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.76457524  0.83079785] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.66908294  0.76489204] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-5.9459     0.2399807], 5.950740814208984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -4.2) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 64 is 4.1 meters away at (-3.9, -1.4). A unknown object with ID 58 is 5.2 meters away at (-2.1, 4.8). A unknown object with ID 8 is 6.4 meters away at (1.7, -6.2). A pedestrian with ID 14 is 7.0 meters away at (-1.4, 6.8). A unknown object with ID 60 is 8.2 meters away at (7.6, -3.1). A vehicle with ID 53 is 8.9 meters away at (-1.6, 8.8). A unknown object with ID 62 is 12.4 meters away at (10.9, -5.9). A pedestrian with ID 39 is 15.4 meters away at (0.9, 15.3). A vehicle with ID 65 is 15.8 meters away at (15.2, -4.3). A unknown object with ID 5 is 16.6 meters away at (14.2, -8.7).

The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02406691 0.00144119] m/s.The unknown object with ID 60 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 unknown object with ID 62 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 [-0.00303349 -0.00010246] m/s.The vehicle with ID 65 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-3.8813362 -1.3517342], 4.109982490539551 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A pedestrian with ID 33 is 6.4 meters away at (2.9, 5.6). A vehicle with ID 34 is 8.4 meters away at (-5.1, 6.7). A vehicle with ID 42 is 12.5 meters away at (-4.0, -11.8). A vehicle with ID 48 is 14.7 meters away at (-11.2, 9.6). A pedestrian with ID 55 is 15.6 meters away at (-0.8, 15.6). A vehicle with ID 50 is 16.3 meters away at (-9.3, 13.4). A vehicle with ID 46 is 17.1 meters away at (11.4, -12.8). A unknown object with ID 35 is 18.1 meters away at (-8.5, -15.9). A unknown object with ID 37 is 18.6 meters away at (-7.7, -17.0). A unknown object with ID 6 is 18.9 meters away at (-11.6, -15.0).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0028199  -0.00024742] m/s.The vehicle with ID 34 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 [ 5.4166274 -7.460679 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6533117  0.9238441] m/s.The vehicle with ID 50 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 [-0.99275625  2.6818104 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.20

The most relevant actors are: A pedestrian with ID 33 is 6.2 meters away at (3.1, 5.3). A vehicle with ID 34 is 8.0 meters away at (-4.9, 6.3). A vehicle with ID 46 is 13.8 meters away at (10.1, -9.3). A vehicle with ID 48 is 14.4 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.9 meters away at (-9.1, 13.1). A pedestrian with ID 55 is 17.2 meters away at (-2.0, 17.1). A vehicle with ID 58 is 22.9 meters away at (-16.5, 15.9). A vehicle with ID 59 is 23.7 meters away at (-13.9, 19.2). A pedestrian with ID 67 is 26.7 meters away at (-8.3, 25.4). A vehicle with ID 42 is 27.8 meters away at (7.1, -26.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00276231 -0.01083109] m/s.The vehicle with ID 34 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 [-0.66273034  1.344323  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.7159481   0.94203633] m/s.The vehicle with ID 58 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 pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.6720112   0.71951985] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.688781  -7.7081885] 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 2.20

The most relevant actors are: A pedestrian with ID 33 is 6.1 meters away at (3.1, 5.3). A vehicle with ID 34 is 7.9 meters away at (-4.9, 6.3). A vehicle with ID 46 is 11.2 meters away at (8.7, -7.0). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 19.2 meters away at (-3.2, 18.9). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.8, 19.2). A pedestrian with ID 60 is 26.1 meters away at (19.8, -17.0). A pedestrian with ID 67 is 28.5 meters away at (-9.5, 26.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00027726 -0.00202141] m/s.The vehicle with ID 34 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 [-0.7221201  0.9605964] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.70704234  0.89939237] m/s.The vehicle with ID 58 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 pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1124068  0.8478949] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.5755503   0.89152855] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [3.1479957 5.265914 ], 6.135122299194336 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 2.20

The most relevant actors are: A pedestrian with ID 33 is 5.2 meters away at (4.0, 3.3). A vehicle with ID 34 is 7.9 meters away at (-4.8, 6.2). A vehicle with ID 46 is 9.9 meters away at (7.9, -6.1). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 21.2 meters away at (-4.7, 20.7). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.9, 19.1). A pedestrian with ID 60 is 23.6 meters away at (17.4, -15.9). A vehicle with ID 51 is 26.8 meters away at (16.1, -21.4).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8341286 -1.223102 ] m/s.The vehicle with ID 34 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.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6796715  0.8623215] m/s.The vehicle with ID 58 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 pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0624149   0.37729502] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.2126474  1.1407216] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [3.9911304 3.341872 ], 5.205499649047852 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.1) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A vehicle with ID 37 is 6.8 meters away at (-5.1, -4.5). A vehicle with ID 38 is 22.3 meters away at (-17.0, 14.6). A unknown object with ID 39 is 23.0 meters away at (18.7, 13.4). A vehicle with ID 40 is 26.2 meters away at (-20.8, 16.0). A vehicle with ID 41 is 27.1 meters away at (25.4, 9.4). A vehicle with ID 42 is 29.3 meters away at (-11.9, 26.8). A vehicle with ID 43 is 31.8 meters away at (-15.4, 27.9). A vehicle with ID 45 is 34.8 meters away at (-18.7, 29.3). A vehicle with ID 44 is 35.1 meters away at (-17.5, -30.5). A vehicle with ID 46 is 37.0 meters away at (-22.1, 29.7).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.0532568 -6.192995 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-29.196938 -74.44082 ]
 [-28.999949 -74.482346]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.8) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 39 is 17.5 meters away at (16.3, 6.4). A vehicle with ID 38 is 20.8 meters away at (-19.3, 7.7). A vehicle with ID 41 is 23.1 meters away at (23.0, 2.5). A vehicle with ID 42 is 24.5 meters away at (-14.3, 19.9). A vehicle with ID 40 is 24.9 meters away at (-23.2, 9.2). A vehicle with ID 37 is 27.5 meters away at (-11.9, -24.8). A vehicle with ID 43 is 27.5 meters away at (-17.7, 21.0). A vehicle with ID 45 is 30.8 meters away at (-21.1, 22.4). A vehicle with ID 35 is 32.5 meters away at (4.1, 32.2). A vehicle with ID 46 is 33.4 meters away at (-24.5, 22.8).

The unknown object 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 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 [-2.182754  -6.4907055] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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.

There are active red lights at the following coordinates: [[-29.196938 -74.44082 ]
 [-28.999949 -74.482346]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [16.265892   6.4226522], 17.487987518310547 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.1) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A unknown object with ID 39 is 13.4 meters away at (12.3, -5.4). A vehicle with ID 42 is 19.9 meters away at (-18.3, 8.0). A vehicle with ID 35 is 20.4 meters away at (0.1, 20.4). A vehicle with ID 41 is 21.1 meters away at (19.0, -9.3). A vehicle with ID 43 is 23.6 meters away at (-21.8, 9.1). A vehicle with ID 38 is 23.7 meters away at (-23.4, -4.1). A vehicle with ID 45 is 27.3 meters away at (-25.2, 10.4). A vehicle with ID 40 is 27.3 meters away at (-27.2, -2.5). A vehicle with ID 46 is 30.5 meters away at (-28.5, 10.8). A vehicle with ID 47 is 37.0 meters away at (34.1, -14.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.253402  -5.3624763], 13.375425338745117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 8.1) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 35 is 7.1 meters away at (-5.0, 5.0). A vehicle with ID 42 is 24.5 meters away at (-23.4, -7.4). A vehicle with ID 36 is 25.8 meters away at (2.0, 25.7). A vehicle with ID 38 is 34.6 meters away at (-28.5, -19.6). A vehicle with ID 34 is 35.3 meters away at (14.5, 32.2). A vehicle with ID 40 is 37.0 meters away at (-32.3, -18.0). A vehicle with ID 4 is 40.9 meters away at (7.0, 40.3). A vehicle with ID 2 is 46.6 meters away at (9.0, 45.7). A vehicle with ID 44 is 71.0 meters away at (-29.1, -64.8). A vehicle with ID 37 is 80.2 meters away at (-28.7, -74.9).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 34 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 4 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.3841232 -4.852871 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A vehicle with ID 33 is 3.3 meters away at (1.9, 2.7). A vehicle with ID 34 is 8.0 meters away at (7.7, 2.2). A vehicle with ID 43 is 11.9 meters away at (11.2, -3.9). A vehicle with ID 38 is 13.5 meters away at (13.5, -1.2). A vehicle with ID 40 is 14.6 meters away at (12.1, -8.1). A vehicle with ID 47 is 18.9 meters away at (1.3, -18.8). A vehicle with ID 50 is 21.0 meters away at (20.2, -6.0). A pedestrian with ID 55 is 22.1 meters away at (-4.3, -21.7). A vehicle with ID 52 is 23.1 meters away at (6.8, -22.1). A vehicle with ID 59 is 23.9 meters away at (-16.0, 17.8).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.1403935  2.0546687] m/s.The vehicle with ID 34 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 [-4.0827904  2.7299821] m/s.The vehicle with ID 38 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 [-1.9583911  1.2522441] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.6401337  0.9198392] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A vehicle with ID 33 is 4.2 meters away at (-0.3, 4.2). A vehicle with ID 43 is 6.5 meters away at (6.4, -0.7). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 11.3 meters away at (9.4, -6.3). A vehicle with ID 38 is 14.0 meters away at (13.9, -1.5). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 21.2 meters away at (-7.0, -20.0). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5). A vehicle with ID 52 is 23.5 meters away at (7.2, -22.4).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.205303   0.7932466] m/s.The vehicle with ID 34 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 [-1.1486685  0.755759 ] 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.4494653  1.0529474] m/s.The vehicle with ID 50 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]

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 2.52

The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.2, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.4 meters away at (7.8, -5.3). A vehicle with ID 38 is 14.1 meters away at (14.0, -1.6). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.4 meters away at (-9.8, -17.8). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 69 is 21.9 meters away at (-21.9, 0.5). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [-0.40564457  0.2764262 ] 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.5173677  1.09032  ] m/s.The vehicle with ID 50 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 [ 0.7258907  -0.46574178] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]

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 2.52

The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.3, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.0 meters away at (7.5, -5.0). A vehicle with ID 38 is 14.2 meters away at (14.1, -1.7). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.3 meters away at (-12.8, -15.8). A vehicle with ID 69 is 21.4 meters away at (-21.4, 0.1). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 75 is 22.5 meters away at (-22.1, 4.1).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.468899   1.0086443] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 0.4) m/s. Its current heading (yaw) is 0.13

The most relevant actors are: A unknown object with ID 37 is 2.5 meters away at (-0.0, 2.5). A unknown object with ID 46 is 3.4 meters away at (-2.3, 2.5). A unknown object with ID 41 is 3.6 meters away at (2.0, 3.0). A vehicle with ID 10 is 4.7 meters away at (-1.8, 4.3). A unknown object with ID 58 is 5.1 meters away at (2.1, 4.6). A unknown object with ID 9 is 5.1 meters away at (-4.3, 2.8). A unknown object with ID 43 is 6.2 meters away at (-5.5, 3.0). A unknown object with ID 31 is 6.6 meters away at (1.2, 6.5). A unknown object with ID 44 is 7.6 meters away at (-6.8, 3.5). A unknown object with ID 34 is 7.7 meters away at (5.2, 5.6).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-0.03840303  2.494341  ], 2.4946365356445312 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.2) m/s. Its current heading (yaw) is 0.46

The most relevant actors are: A unknown object with ID 41 is 3.5 meters away at (-3.1, 1.6). A unknown object with ID 38 is 3.6 meters away at (1.3, 3.3). A unknown object with ID 34 is 4.2 meters away at (0.2, 4.2). A unknown object with ID 47 is 4.3 meters away at (3.9, -1.7). A unknown object with ID 58 is 4.3 meters away at (-3.0, 3.2). A unknown object with ID 37 is 5.2 meters away at (-5.1, 1.0). A unknown object with ID 39 is 5.2 meters away at (3.1, 4.2). A unknown object with ID 11 is 6.2 meters away at (0.1, 6.2). A unknown object with ID 31 is 6.5 meters away at (-3.9, 5.1). A unknown object with ID 42 is 7.1 meters away at (4.7, 5.3).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-3.1470346  1.5619392], 3.513329029083252 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.8) m/s. Its current heading (yaw) is 0.69

The most relevant actors are: A unknown object with ID 39 is 2.0 meters away at (-1.6, 1.1). A unknown object with ID 42 is 2.3 meters away at (0.1, 2.3). A unknown object with ID 38 is 3.2 meters away at (-3.2, 0.3). A unknown object with ID 40 is 3.9 meters away at (1.5, 3.7). A unknown object with ID 34 is 4.5 meters away at (-4.4, 1.1). A unknown object with ID 47 is 4.7 meters away at (-0.6, -4.7). A unknown object with ID 11 is 5.5 meters away at (-4.5, 3.2). A unknown object with ID 36 is 5.9 meters away at (2.9, 5.2). A unknown object with ID 32 is 6.8 meters away at (-4.3, 5.2). A unknown object with ID 58 is 7.5 meters away at (-7.5, 0.2).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 [-1.5924625  1.1381145], 1.9573557376861572 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 2.7) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A unknown object with ID 36 is 2.0 meters away at (-1.8, 0.6). A unknown object with ID 40 is 3.3 meters away at (-3.2, -0.9). A unknown object with ID 42 is 5.2 meters away at (-4.6, -2.2). A unknown object with ID 2 is 5.4 meters away at (-3.2, 4.4). A unknown object with ID 15 is 5.5 meters away at (-2.9, 4.7). A unknown object with ID 33 is 6.5 meters away at (-5.0, 4.2). A unknown object with ID 39 is 7.1 meters away at (-6.2, -3.3). A unknown object with ID 70 is 7.8 meters away at (-7.0, 3.6). A unknown object with ID 35 is 8.9 meters away at (-8.5, 2.6). A unknown object with ID 32 is 9.0 meters away at (-9.0, 0.7).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [-1.8443203  0.6384344], 1.9516956806182861 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -4.3) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (1.4, -3.6). A unknown object with ID 22 is 4.2 meters away at (0.6, 4.2). A vehicle with ID 26 is 7.7 meters away at (2.7, -7.2). A vehicle with ID 20 is 8.0 meters away at (7.9, 1.5). A vehicle with ID 21 is 9.7 meters away at (9.5, -1.9). A vehicle with ID 23 is 12.7 meters away at (11.8, -4.5). A vehicle with ID 27 is 16.0 meters away at (-6.6, -14.6). A vehicle with ID 28 is 26.5 meters away at (-16.1, -21.0). A vehicle with ID 4 is 27.1 meters away at (-21.2, -16.9). A vehicle with ID 29 is 33.8 meters away at (-21.6, -26.1).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.7395315 -5.322715 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -4.3) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 27 is 7.2 meters away at (3.9, -6.0). A vehicle with ID 25 is 12.9 meters away at (11.8, 5.0). A vehicle with ID 26 is 13.2 meters away at (13.1, 1.4). A vehicle with ID 28 is 13.6 meters away at (-5.5, -12.4). A vehicle with ID 29 is 20.7 meters away at (-10.9, -17.6). A vehicle with ID 20 is 21.0 meters away at (18.4, 10.2). A vehicle with ID 21 is 21.2 meters away at (20.0, 6.8). A vehicle with ID 23 is 22.7 meters away at (22.3, 4.2). A vehicle with ID 17 is 25.8 meters away at (-18.0, -18.5). A vehicle with ID 31 is 27.2 meters away at (-16.9, -21.3).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.3480663 4.941563 ] m/s.The vehicle with ID 31 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 (-6.2, -4.8) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 17 is 4.6 meters away at (4.5, -0.7). A vehicle with ID 28 is 6.9 meters away at (6.1, -3.3). A vehicle with ID 29 is 8.5 meters away at (0.7, -8.5). A vehicle with ID 31 is 13.4 meters away at (-5.3, -12.3). A vehicle with ID 27 is 15.7 meters away at (15.4, 3.0). A vehicle with ID 32 is 21.4 meters away at (-11.8, -17.8). A vehicle with ID 26 is 26.9 meters away at (24.7, 10.6). A vehicle with ID 25 is 27.3 meters away at (23.4, 14.1). A pedestrian with ID 13 is 32.7 meters away at (-27.3, -18.0). A vehicle with ID 4 is 35.3 meters away at (-27.1, -22.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [4.5396314 3.5213234] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0788853 0.9172452] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.3154535 -6.2557793] m/s.

Instruction: Continue straight.


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 vehicle with ID 32 is 7.4 meters away at (1.0, -7.3). A vehicle with ID 31 is 7.7 meters away at (7.6, -1.7). A pedestrian with ID 13 is 13.3 meters away at (-12.2, -5.4). A vehicle with ID 29 is 13.7 meters away at (13.6, 2.0). A vehicle with ID 8 is 15.0 meters away at (-7.4, -13.0). A unknown object with ID 18 is 18.9 meters away at (18.9, -1.2). A vehicle with ID 28 is 20.3 meters away at (19.0, 7.2). A vehicle with ID 17 is 28.9 meters away at (24.5, 15.3). A vehicle with ID 27 is 31.5 meters away at (28.3, 13.7). A vehicle with ID 4 is 38.2 meters away at (-29.1, -24.7).

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 pedestrian with ID 13 is traveling at a (x, y) velocity of [1.1504153 1.1083282] m/s.The vehicle with ID 29 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 [1.1862769 0.8133269] m/s.The unknown object with ID 18 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 17 is traveling at a (x, y) velocity of [2.5397642 1.9977487] m/s.The vehicle with ID 27 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 [-7.7867274 -6.240707 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -1.1) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 98 is 3.1 meters away at (-1.7, -2.6). A vehicle with ID 95 is 5.7 meters away at (-5.7, 0.6). A vehicle with ID 94 is 5.9 meters away at (4.7, 3.6). A unknown object with ID 96 is 6.6 meters away at (1.1, 6.5). A vehicle with ID 103 is 9.3 meters away at (3.2, 8.7). A pedestrian with ID 99 is 9.7 meters away at (-0.4, 9.6). A pedestrian with ID 101 is 10.1 meters away at (0.0, 10.1). A vehicle with ID 107 is 13.0 meters away at (0.3, -13.0). A unknown object with ID 102 is 13.2 meters away at (-3.0, 12.9). A vehicle with ID 100 is 13.3 meters away at (-11.9, 6.1).

The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.01452126 -0.01394945] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03785067 -0.03231675] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 98 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 94 is 5.7 meters away at (3.7, 4.4). A vehicle with ID 95 is 6.9 meters away at (-6.7, 1.4). A unknown object with ID 96 is 7.4 meters away at (0.0, 7.4). A vehicle with ID 103 is 9.9 meters away at (2.2, 9.6). A unknown object with ID 85 is 10.5 meters away at (5.4, 9.0). A pedestrian with ID 99 is 10.5 meters away at (-1.4, 10.4). A pedestrian with ID 101 is 10.9 meters away at (-1.0, 10.9). A vehicle with ID 107 is 12.2 meters away at (-0.8, -12.2). A unknown object with ID 102 is 14.3 meters away at (-4.0, 13.7).

The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.05909583  0.02658346] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03113008  0.00293682] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -1.0) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 98 is 6.1 meters away at (-6.1, 0.1). A vehicle with ID 94 is 6.2 meters away at (0.3, 6.2). A unknown object with ID 96 is 9.9 meters away at (-3.3, 9.3). A vehicle with ID 95 is 10.7 meters away at (-10.2, 3.4). A vehicle with ID 107 is 11.1 meters away at (-4.3, -10.3). A vehicle with ID 103 is 11.5 meters away at (-1.2, 11.4). A pedestrian with ID 99 is 13.3 meters away at (-4.8, 12.4). A pedestrian with ID 101 is 13.6 meters away at (-4.4, 12.9). A vehicle with ID 76 is 16.3 meters away at (-7.8, -14.3). A vehicle with ID 109 is 16.3 meters away at (12.4, 10.6).

The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.00515002 -0.03251549] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [ 0.00849512 -0.00967009] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 1.8) m/s. Its current heading (yaw) is 0.45

The most relevant actors are: A vehicle with ID 94 is 9.0 meters away at (-7.0, 5.7). A unknown object with ID 73 is 10.4 meters away at (-3.5, 9.7). A vehicle with ID 108 is 11.2 meters away at (8.8, -7.0). A vehicle with ID 109 is 11.3 meters away at (5.1, 10.0). A unknown object with ID 64 is 11.6 meters away at (-5.3, 10.3). A vehicle with ID 98 is 13.4 meters away at (-13.4, -0.5). A unknown object with ID 96 is 13.8 meters away at (-10.7, 8.8). A vehicle with ID 103 is 14.0 meters away at (-8.6, 11.0). A vehicle with ID 107 is 15.8 meters away at (-11.4, -10.9). A vehicle with ID 93 is 16.2 meters away at (8.4, 13.9).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 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 (0.2, -0.9) m/s. Its current heading (yaw) is -1.38

The most relevant actors are: A pedestrian with ID 6 is 6.0 meters away at (5.9, -1.2). A pedestrian with ID 8 is 23.0 meters away at (22.8, -2.8). A pedestrian with ID 7 is 36.9 meters away at (25.6, 26.5). A pedestrian with ID 12 is 39.4 meters away at (22.4, 32.4). A pedestrian with ID 14 is 53.6 meters away at (12.0, 52.2). A unknown object with ID 15 is 54.8 meters away at (3.2, 54.7). A vehicle with ID 11 is 61.3 meters away at (-61.2, 1.3).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.97246486  0.35510266] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00939107 -0.03353919] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.0430208  -0.10647538] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1515089  0.23857675] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.03132897  0.02879439] m/s.The unknown object 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 [-14.349692    5.7136917] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A pedestrian with ID 6 is 4.1 meters away at (4.1, -0.4). A pedestrian with ID 1 is 10.0 meters away at (9.3, -3.8). A pedestrian with ID 7 is 35.0 meters away at (23.2, 26.2). A pedestrian with ID 12 is 41.5 meters away at (24.5, 33.6). A unknown object with ID 15 is 55.6 meters away at (2.9, 55.5). A vehicle with ID 16 is 59.1 meters away at (41.4, -42.2). A vehicle with ID 3 is 65.7 meters away at (-63.4, 17.2).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.64172316  0.10745003] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1498713  0.6450945] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.158769   -0.44326478] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.90022534 0.6675423 ] m/s.The unknown object 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 [-11.456466   4.79782 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.027937  -5.3767457] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A pedestrian with ID 6 is 3.9 meters away at (3.9, -0.2). A pedestrian with ID 1 is 8.2 meters away at (7.7, -2.7). A pedestrian with ID 7 is 32.7 meters away at (21.0, 25.0). A vehicle with ID 16 is 37.9 meters away at (18.9, -32.8). A vehicle with ID 3 is 38.5 meters away at (-37.9, 6.8). A pedestrian with ID 12 is 43.3 meters away at (26.6, 34.2). A vehicle with ID 2 is 50.8 meters away at (36.1, -35.7).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00414842 -0.00030204] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.677305   0.5289225] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1841596 -0.757009 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.862382   4.585152] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [12.823285  -5.3517447] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1351144  0.22040974] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.470137   6.973223] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A pedestrian with ID 6 is 3.8 meters away at (3.8, -0.3). A pedestrian with ID 1 is 6.7 meters away at (6.4, -1.9). A vehicle with ID 3 is 12.3 meters away at (-11.5, -4.2). A vehicle with ID 2 is 22.2 meters away at (3.2, -21.9). A vehicle with ID 16 is 23.9 meters away at (-2.5, -23.8). A pedestrian with ID 7 is 30.4 meters away at (18.6, 24.1). A pedestrian with ID 12 is 44.8 meters away at (28.7, 34.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.01110831 0.00250253] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.6068131   0.40934947] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.472304 -5.615899] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.232038    6.8819933] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.388404    4.4428725] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2027142  -0.28522107] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1675258  -0.01091674] m/s.

Instruction: Slight right turn approaching.