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

The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 13.0 meters away at (12.0, 5.0). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A pedestrian with ID 11 is 15.5 meters away at (12.7, 8.9). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.47852653 -1.2818882 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.33489302 -1.2287    ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 12.0 meters away at (11.7, 2.5). A pedestrian with ID 11 is 13.5 meters away at (11.9, 6.4). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.16683607 -1.3309854 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4057417 -1.3203013] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 11 is 12.1 meters away at (11.5, 3.8). A pedestrian with ID 12 is 13.3 meters away at (13.3, 0.4). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.1, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.5).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.14731331 -1.3225459 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1070324  -0.87275684] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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 -2.20

The most relevant actors are: A unknown object with ID 16 is 5.6 meters away at (-3.7, 4.2). A unknown object with ID 19 is 5.9 meters away at (-5.7, 1.3). A unknown object with ID 17 is 6.8 meters away at (-2.1, 6.5). A unknown object with ID 25 is 8.2 meters away at (-8.1, -0.9). A unknown object with ID 26 is 8.5 meters away at (-8.4, -1.7). A unknown object with ID 27 is 8.8 meters away at (-8.6, -2.0). A unknown object with ID 20 is 9.1 meters away at (-0.5, 9.1). A unknown object with ID 28 is 9.7 meters away at (-9.6, -1.2). A unknown object with ID 30 is 11.0 meters away at (-11.0, -0.4). A unknown object with ID 24 is 11.2 meters away at (0.9, 11.2).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.6789062  4.2088647], 5.590071201324463 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 unknown object with ID 16 is 5.7 meters away at (-3.6, 4.4). A unknown object with ID 19 is 5.9 meters away at (-5.7, 1.5). A unknown object with ID 17 is 6.9 meters away at (-2.0, 6.6). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.5 meters away at (-8.3, -1.6). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.9). A unknown object with ID 20 is 9.3 meters away at (-0.4, 9.3). A unknown object with ID 28 is 9.7 meters away at (-9.6, -1.1). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.4 meters away at (1.0, 11.4).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.608577   4.3887644], 5.681820392608643 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 unknown object with ID 16 is 5.7 meters away at (-3.6, 4.5). A unknown object with ID 19 is 5.8 meters away at (-5.6, 1.6). A unknown object with ID 17 is 7.0 meters away at (-2.0, 6.7). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.4 meters away at (-8.3, -1.5). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.8). A unknown object with ID 20 is 9.4 meters away at (-0.4, 9.4). A unknown object with ID 28 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.5 meters away at (1.0, 11.4).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.572021  4.452711], 5.708412170410156 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 unknown object with ID 16 is 5.7 meters away at (-3.6, 4.4). A unknown object with ID 19 is 5.8 meters away at (-5.6, 1.6). A unknown object with ID 17 is 7.0 meters away at (-2.0, 6.7). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.4 meters away at (-8.3, -1.5). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.8). A unknown object with ID 20 is 9.4 meters away at (-0.4, 9.4). A unknown object with ID 28 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.5 meters away at (1.0, 11.4).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.5541978  4.4460893], 5.692102432250977 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 2.2) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 95 is 7.7 meters away at (-6.8, -3.5). A vehicle with ID 86 is 12.1 meters away at (7.1, -9.7). A vehicle with ID 82 is 12.5 meters away at (1.6, -12.4). A vehicle with ID 89 is 13.2 meters away at (-9.9, -8.7). A vehicle with ID 84 is 15.2 meters away at (14.2, -5.5). A vehicle with ID 81 is 16.1 meters away at (7.1, -14.4). A pedestrian with ID 90 is 16.2 meters away at (-8.6, -13.7). A pedestrian with ID 91 is 16.7 meters away at (-9.9, -13.4). A vehicle with ID 92 is 17.0 meters away at (-15.8, -6.4). A vehicle with ID 94 is 18.3 meters away at (-15.6, 9.6).

The vehicle with ID 95 is traveling at a (x, y) velocity of [ 7.285792  -2.0166004] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [ 6.9336753 -2.2592413] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-5.791148   2.0296946] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.62116027 -0.24105123] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.537099   -0.22619155] m/s.The vehicle with ID 92 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.3) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 94 is 5.4 meters away at (-2.1, 4.9). A vehicle with ID 106 is 7.4 meters away at (-5.0, -5.4). A vehicle with ID 92 is 11.2 meters away at (-2.2, -11.0). A vehicle with ID 98 is 11.8 meters away at (-7.6, -9.1). A vehicle with ID 89 is 13.8 meters away at (3.5, -13.3). A pedestrian with ID 101 is 16.0 meters away at (-9.1, 13.1). A vehicle with ID 84 is 16.3 meters away at (15.2, -5.7). A vehicle with ID 109 is 16.7 meters away at (-16.6, -2.3). A pedestrian with ID 91 is 19.2 meters away at (4.9, -18.6). A vehicle with ID 87 is 20.4 meters away at (-19.3, 6.6).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [ 5.6199265 -2.040665 ] m/s.The vehicle with ID 92 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 vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [ 0.1483274  -0.14573385] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.7662244  2.3399916] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 5.9123178 -2.0012374] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.22770062 -0.20913476] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.5403395  2.365802 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 2.2) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 94 is 10.0 meters away at (9.9, 0.7). A vehicle with ID 53 is 10.1 meters away at (-8.4, -5.6). A vehicle with ID 109 is 12.8 meters away at (7.3, -10.5). A vehicle with ID 98 is 14.2 meters away at (4.6, -13.4). A unknown object with ID 24 is 14.6 meters away at (-10.1, -10.6). A vehicle with ID 84 is 14.7 meters away at (13.8, -5.2). A vehicle with ID 92 is 18.3 meters away at (10.1, -15.3). A vehicle with ID 87 is 21.0 meters away at (-19.9, 6.8). A vehicle with ID 89 is 23.7 meters away at (15.9, -17.6). A vehicle with ID 7 is 24.1 meters away at (-16.9, 17.1).

The vehicle with ID 94 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 [ 6.2339015 -2.0074806] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 5.789216  -1.8875735] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.8463235  2.438587 ] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.601675   2.1653156] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.7) m/s. Its current heading (yaw) is 2.29

The most relevant actors are: A vehicle with ID 20 is 9.5 meters away at (-2.5, -9.1). A vehicle with ID 84 is 12.0 meters away at (10.2, -6.3). A vehicle with ID 7 is 14.0 meters away at (-8.1, 11.5). A cyclist with ID 35 is 15.4 meters away at (-14.5, -5.1). A vehicle with ID 96 is 16.5 meters away at (-16.5, -0.7). A vehicle with ID 5 is 17.9 meters away at (1.5, 17.8). A vehicle with ID 94 is 19.5 meters away at (18.9, -4.8). A vehicle with ID 53 is 19.5 meters away at (12.6, -14.9). A pedestrian with ID 8 is 19.8 meters away at (-14.6, 13.4). A pedestrian with ID 9 is 20.7 meters away at (-15.4, 13.8).

The vehicle with ID 20 is traveling at a (x, y) velocity of [ 7.0569897 -2.415975 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.2405     2.2283652] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [ 6.6275625 -2.5060136] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 5.799786  -1.8640393] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0677795   0.01449068] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.01307851 -0.00819778] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.0, -1.2) m/s. Its current heading (yaw) is -0.12

The most relevant actors are: A unknown object with ID 19 is 12.0 meters away at (11.6, 3.1). A vehicle with ID 20 is 40.2 meters away at (36.8, -16.3).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-8.686653   2.1323516] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [11.645002   3.0581844], 12.039874076843262 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -1.8) m/s. Its current heading (yaw) is -0.18

The most relevant actors are: A unknown object with ID 11 is 7.9 meters away at (-5.5, 5.6). A vehicle with ID 20 is 9.5 meters away at (-1.8, -9.3). A unknown object with ID 4 is 47.5 meters away at (38.3, -28.1). A unknown object with ID 5 is 47.5 meters away at (38.6, -27.7). A unknown object with ID 6 is 47.6 meters away at (38.3, -28.4). A unknown object with ID 7 is 48.3 meters away at (39.5, -27.8). A unknown object with ID 9 is 49.0 meters away at (39.4, -29.3).

The unknown object with ID 11 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 [-9.884602  1.850109] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 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: Sharp right turn approaching

(The closest actor is a unknown object at [-5.5422554  5.6107917], 7.886544227600098 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -1.8) m/s. Its current heading (yaw) is -0.21

The most relevant actors are: A unknown object with ID 11 is 25.8 meters away at (-24.1, 9.2). A unknown object with ID 3 is 31.3 meters away at (20.1, -24.1). A unknown object with ID 4 is 31.6 meters away at (19.8, -24.6). A unknown object with ID 6 is 31.6 meters away at (19.7, -24.7). A unknown object with ID 5 is 32.1 meters away at (21.0, -24.3). A unknown object with ID 7 is 32.6 meters away at (21.2, -24.8). A unknown object with ID 9 is 33.0 meters away at (21.0, -25.4). A vehicle with ID 20 is 41.5 meters away at (-41.5, -2.0). A pedestrian with ID 14 is 68.1 meters away at (40.0, -55.1).

The unknown object with ID 11 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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.The unknown object with ID 9 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 [-10.963832    1.7517403] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02914213 0.0127429 ] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-24.077106   9.208164], 25.77784538269043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -0.5) m/s. Its current heading (yaw) is -0.08

The most relevant actors are: A unknown object with ID 3 is 21.8 meters away at (5.4, -21.2). A unknown object with ID 4 is 22.2 meters away at (5.0, -21.6). A unknown object with ID 5 is 22.3 meters away at (6.0, -21.5). A unknown object with ID 6 is 22.6 meters away at (4.9, -22.1). A unknown object with ID 7 is 22.9 meters away at (6.5, -21.9). A unknown object with ID 8 is 23.3 meters away at (6.3, -22.4). A unknown object with ID 9 is 23.5 meters away at (6.1, -22.7). A unknown object with ID 11 is 40.6 meters away at (-38.7, 12.1). A pedestrian with ID 14 is 58.0 meters away at (24.9, -52.4). A pedestrian with ID 10 is 62.9 meters away at (19.6, -59.8).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.047058   -0.03355907] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3832263   0.36716613] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [  5.358551 -21.182465], 21.849733352661133 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -3.6) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 11 is 9.8 meters away at (-5.4, -8.2). A vehicle with ID 65 is 14.3 meters away at (-3.2, -13.9). A vehicle with ID 82 is 17.3 meters away at (-5.1, 16.5). A unknown object with ID 22 is 17.3 meters away at (-6.1, -16.2). A vehicle with ID 62 is 17.6 meters away at (1.0, 17.5). A vehicle with ID 63 is 21.1 meters away at (3.1, 20.9). A vehicle with ID 61 is 21.3 meters away at (-7.1, -20.1). A vehicle with ID 19 is 24.1 meters away at (-12.8, -20.4). A unknown object with ID 74 is 25.0 meters away at (-20.6, -14.2). A vehicle with ID 66 is 27.0 meters away at (5.7, 26.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.6861417 -4.557786 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [10.336342  -7.2438865] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-8.365089  5.136875] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1341085 -5.324041 ] m/s.The unknown object with ID 74 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 [-3.3643105  -0.04297301] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -4.8) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 65 is 6.0 meters away at (2.4, -5.5). A unknown object with ID 22 is 7.7 meters away at (-0.5, -7.6). A vehicle with ID 61 is 11.6 meters away at (-1.4, -11.6). A vehicle with ID 11 is 12.6 meters away at (-6.7, -10.7). A unknown object with ID 33 is 14.2 meters away at (-4.0, -13.7). A unknown object with ID 76 is 17.3 meters away at (-12.4, -12.0). A vehicle with ID 59 is 18.2 meters away at (-4.8, -17.6). A pedestrian with ID 77 is 19.7 meters away at (-16.5, -10.9). A pedestrian with ID 78 is 20.0 meters away at (-15.7, -12.3). A pedestrian with ID 79 is 20.8 meters away at (-16.8, -12.4).

The vehicle with ID 65 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-3.6170466 -5.8824706] 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 76 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 77 is traveling at a (x, y) velocity of [0.00211012 0.01168631] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.02456622 0.0514744 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00148875 0.01840894] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -6.0) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A unknown object with ID 33 is 4.2 meters away at (3.1, -2.8). A vehicle with ID 61 is 5.5 meters away at (5.5, -0.7). A unknown object with ID 76 is 5.6 meters away at (-5.5, -1.2). A vehicle with ID 59 is 7.0 meters away at (2.1, -6.6). A unknown object with ID 22 is 7.2 meters away at (6.4, 3.2). A pedestrian with ID 44 is 8.6 meters away at (8.3, 2.3). A unknown object with ID 27 is 9.4 meters away at (-9.4, -0.2). A pedestrian with ID 77 is 9.5 meters away at (-9.5, 0.1). A vehicle with ID 60 is 9.6 meters away at (-8.6, -4.4). A vehicle with ID 65 is 10.7 meters away at (9.2, 5.3).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00485727 -0.0717985 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.01177882 -0.02079877] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 3.0963955 -2.7945766], 4.1710100173950195 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -6.1) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 57 is 6.2 meters away at (6.2, -0.4). A vehicle with ID 60 is 7.7 meters away at (-0.8, 7.7). A vehicle with ID 21 is 9.4 meters away at (-8.4, -4.3). A unknown object with ID 35 is 9.6 meters away at (8.6, -4.3). A vehicle with ID 59 is 10.8 meters away at (9.6, 5.1). A unknown object with ID 76 is 11.0 meters away at (2.1, 10.8). A vehicle with ID 11 is 13.6 meters away at (-7.3, -11.5). A unknown object with ID 33 is 14.0 meters away at (10.7, 9.1). A vehicle with ID 61 is 17.3 meters away at (13.2, 11.2). A unknown object with ID 22 is 20.6 meters away at (14.0, 15.1).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 unknown object with ID 76 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 [-4.1362767 -6.1937056] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 (0.8, 0.2) m/s. Its current heading (yaw) is 0.24

The most relevant actors are: A vehicle with ID 17 is 8.4 meters away at (-6.7, -5.0). A vehicle with ID 18 is 13.6 meters away at (-11.9, -6.5). A vehicle with ID 19 is 15.0 meters away at (-14.8, 1.9). A unknown object with ID 20 is 16.0 meters away at (15.6, 3.8). A unknown object with ID 22 is 16.2 meters away at (16.1, 1.4). A unknown object with ID 23 is 16.7 meters away at (14.4, 8.5). A vehicle with ID 24 is 18.7 meters away at (-16.9, -7.9). A vehicle with ID 25 is 19.5 meters away at (-19.5, 0.5). A vehicle with ID 16 is 23.8 meters away at (2.1, 23.7). A vehicle with ID 26 is 24.3 meters away at (-22.4, -9.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.8) m/s. Its current heading (yaw) is 0.54

The most relevant actors are: A unknown object with ID 20 is 11.3 meters away at (11.2, 2.1). A unknown object with ID 22 is 11.7 meters away at (11.7, -0.2). A unknown object with ID 23 is 12.1 meters away at (10.0, 6.8). A vehicle with ID 17 is 13.0 meters away at (-11.2, -6.5). A vehicle with ID 18 is 18.3 meters away at (-16.4, -8.0). A vehicle with ID 19 is 19.2 meters away at (-19.2, 0.5). A vehicle with ID 16 is 22.2 meters away at (-2.1, 22.1). A unknown object with ID 14 is 22.2 meters away at (22.1, -2.5). A vehicle with ID 24 is 23.3 meters away at (-21.4, -9.3). A vehicle with ID 25 is 23.9 meters away at (-23.9, -0.9).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 [11.157439  2.07472 ], 11.3486967086792 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 5.3) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A unknown object with ID 22 is 9.6 meters away at (6.4, -7.2). A vehicle with ID 16 is 16.9 meters away at (-7.2, 15.3). A vehicle with ID 17 is 21.2 meters away at (-16.5, -13.3). A vehicle with ID 7 is 23.2 meters away at (-8.6, 21.5). A vehicle with ID 19 is 25.3 meters away at (-24.5, -6.3). A vehicle with ID 18 is 26.2 meters away at (-21.7, -14.7). A vehicle with ID 6 is 29.4 meters away at (-10.1, 27.6). A vehicle with ID 25 is 30.3 meters away at (-29.3, -7.6). A vehicle with ID 24 is 31.1 meters away at (-26.7, -16.1). A vehicle with ID 27 is 35.8 meters away at (-34.6, -9.0).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 6.413205  -7.1636395], 9.614933013916016 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 6.8) m/s. Its current heading (yaw) is 1.75

The most relevant actors are: A vehicle with ID 16 is 7.5 meters away at (-6.9, 3.0). A vehicle with ID 7 is 12.3 meters away at (-8.3, 9.1). A vehicle with ID 6 is 18.1 meters away at (-9.8, 15.2). A vehicle with ID 17 is 30.3 meters away at (-16.0, -25.7). A vehicle with ID 19 is 30.4 meters away at (-24.1, -18.6). A vehicle with ID 18 is 34.5 meters away at (-21.2, -27.2). A vehicle with ID 25 is 35.1 meters away at (-28.9, -20.0). A vehicle with ID 24 is 38.8 meters away at (-26.2, -28.6). A vehicle with ID 27 is 40.4 meters away at (-34.2, -21.5). A vehicle with ID 26 is 43.6 meters away at (-31.7, -30.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.5) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 30 is 3.2 meters away at (3.2, 0.2). A vehicle with ID 31 is 13.1 meters away at (0.2, 13.1). A vehicle with ID 32 is 32.4 meters away at (-10.0, 30.8). A pedestrian with ID 11 is 72.6 meters away at (-3.3, 72.5).

The vehicle with ID 30 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 32 is traveling at a (x, y) velocity of [ 1.2306265 -5.696804 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.8968496  -0.05591843] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.6) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 32 is 3.3 meters away at (-3.2, 0.7). A vehicle with ID 31 is 7.5 meters away at (4.6, -6.0). A vehicle with ID 30 is 20.4 meters away at (7.5, -19.0). A unknown object with ID 26 is 59.7 meters away at (-23.3, 54.9). A vehicle with ID 6 is 69.1 meters away at (-39.6, 56.7).

The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.1503848 -5.1214747] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.8) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 31 is 27.1 meters away at (9.2, -25.5). A vehicle with ID 32 is 29.7 meters away at (3.9, -29.4). A vehicle with ID 30 is 40.3 meters away at (12.1, -38.5). A vehicle with ID 6 is 50.9 meters away at (-35.0, 37.1). A vehicle with ID 10 is 53.4 meters away at (-39.8, 35.6). A vehicle with ID 13 is 61.8 meters away at (-17.7, 59.2). A pedestrian with ID 19 is 62.5 meters away at (-16.9, 60.2).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.4116503 -5.4742823] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.03919169  0.00359239] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 10.0) m/s. Its current heading (yaw) is 1.72

The most relevant actors are: A vehicle with ID 21 is 29.7 meters away at (-28.5, 8.6). A vehicle with ID 12 is 34.1 meters away at (-33.4, 7.2). A vehicle with ID 6 is 35.7 meters away at (-31.4, 17.1). A vehicle with ID 7 is 39.4 meters away at (-38.9, 5.8). A vehicle with ID 10 is 39.4 meters away at (-36.1, 15.8). A vehicle with ID 13 is 41.9 meters away at (-14.2, 39.4). A pedestrian with ID 19 is 42.5 meters away at (-13.4, 40.3). A vehicle with ID 16 is 43.9 meters away at (-41.5, 14.3). A vehicle with ID 9 is 45.6 meters away at (-45.4, 4.2). A vehicle with ID 31 is 47.1 meters away at (12.8, -45.3).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.02431935 0.01756978] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-7.3, -5.1) m/s. Its current heading (yaw) is -2.53

The most relevant actors are: A vehicle with ID 33 is 26.6 meters away at (-20.6, 16.9). A unknown object with ID 23 is 30.9 meters away at (-26.5, 15.8). A unknown object with ID 34 is 31.7 meters away at (-28.0, 14.8). A unknown object with ID 35 is 32.7 meters away at (-29.7, 13.6). A unknown object with ID 36 is 33.7 meters away at (-31.3, 12.4). A unknown object with ID 37 is 34.9 meters away at (-33.0, 11.2). A unknown object with ID 38 is 36.3 meters away at (-34.9, 9.9). A unknown object with ID 18 is 38.3 meters away at (-36.8, 10.7). A vehicle with ID 29 is 52.6 meters away at (-50.3, -15.4). A vehicle with ID 31 is 74.6 meters away at (50.6, 54.8).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 29 is traveling at a (x, y) velocity of [10.172553  9.328669] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [15.686627 10.029146] m/s.

There are active red lights at the following coordinates: [[-87.82315 -62.97984]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -5.4) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 29 is 20.0 meters away at (-15.4, 12.8). A vehicle with ID 19 is 27.3 meters away at (-8.8, 25.8). A vehicle with ID 33 is 28.0 meters away at (-6.8, 27.2). A unknown object with ID 36 is 28.6 meters away at (-17.3, 22.8). A unknown object with ID 35 is 28.7 meters away at (-15.8, 23.9). A unknown object with ID 34 is 28.8 meters away at (-14.3, 25.0). A unknown object with ID 37 is 28.8 meters away at (-19.1, 21.6). A unknown object with ID 23 is 29.0 meters away at (-12.9, 26.0). A unknown object with ID 38 is 29.2 meters away at (-21.0, 20.3). A unknown object with ID 13 is 35.1 meters away at (-33.0, 11.9).

The vehicle with ID 29 is traveling at a (x, y) velocity of [10.878678  8.237297] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 34 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 23 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-87.82315 -62.97984]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -5.7) m/s. Its current heading (yaw) is -2.39

The most relevant actors are: A vehicle with ID 12 is 25.1 meters away at (-22.7, 10.8). A unknown object with ID 38 is 32.3 meters away at (-8.2, 31.2). A unknown object with ID 37 is 33.1 meters away at (-6.3, 32.5). A unknown object with ID 36 is 34.0 meters away at (-4.5, 33.7). A unknown object with ID 35 is 35.0 meters away at (-3.1, 34.8). A unknown object with ID 34 is 36.1 meters away at (-1.3, 36.0). A vehicle with ID 19 is 37.1 meters away at (4.2, 36.9). A unknown object with ID 23 is 37.2 meters away at (0.2, 37.2). A unknown object with ID 30 is 38.4 meters away at (1.9, 38.4). A vehicle with ID 33 is 38.7 meters away at (6.1, 38.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [9.320181 8.264968] 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 37 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 35 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 vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-87.82315 -62.97984]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -5.7) m/s. Its current heading (yaw) is -2.36

The most relevant actors are: A vehicle with ID 16 is 19.6 meters away at (-10.7, 16.4). A vehicle with ID 4 is 28.5 meters away at (-25.8, -12.0). A vehicle with ID 12 is 38.7 meters away at (8.7, 37.7). A unknown object with ID 38 is 42.7 meters away at (3.8, 42.5). A unknown object with ID 20 is 43.5 meters away at (1.9, 43.4). A unknown object with ID 37 is 44.0 meters away at (5.5, 43.7). A unknown object with ID 36 is 45.6 meters away at (7.3, 45.0). A unknown object with ID 25 is 45.8 meters away at (7.6, 45.1). A unknown object with ID 35 is 46.9 meters away at (8.9, 46.0). A unknown object with ID 34 is 48.5 meters away at (10.6, 47.3).

The vehicle with ID 16 is traveling at a (x, y) velocity of [14.750621 12.750341] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [10.4704485  7.7201867] 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 20 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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: Continue straight.


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 -0.40

The most relevant actors are: A pedestrian with ID 23 is 5.0 meters away at (-2.6, 4.2). A unknown object with ID 29 is 9.5 meters away at (7.6, -5.7). A unknown object with ID 30 is 9.8 meters away at (7.0, -6.9). A unknown object with ID 25 is 14.0 meters away at (-11.7, -7.8). A unknown object with ID 26 is 14.4 meters away at (-10.8, -9.4). A unknown object with ID 24 is 15.8 meters away at (-13.6, -8.0). A vehicle with ID 27 is 16.8 meters away at (-16.6, -2.2). A vehicle with ID 6 is 68.7 meters away at (55.9, -39.9).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.1449761  -0.43750277] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-7.6972613  3.3964417] m/s.The vehicle 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 (8.1, -3.3) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 29 is 8.1 meters away at (-8.1, 0.9). A unknown object with ID 30 is 8.6 meters away at (-8.6, -0.3). A pedestrian with ID 23 is 19.0 meters away at (-16.2, 9.9). A unknown object with ID 26 is 26.8 meters away at (-26.7, -2.8). A unknown object with ID 25 is 27.4 meters away at (-27.4, -1.2). A unknown object with ID 11 is 28.8 meters away at (-28.8, -1.7). A unknown object with ID 24 is 29.2 meters away at (-29.1, -1.4). A vehicle with ID 13 is 39.2 meters away at (31.4, -23.5). A vehicle with ID 27 is 46.5 meters away at (-45.4, 9.9). A vehicle with ID 6 is 52.1 meters away at (40.1, -33.3).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.2443898  -0.42539918] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.227585    6.8615236] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.2321806  1.7608755] m/s.The vehicle with ID 6 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 [-8.096561   0.9013157], 8.146574974060059 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -3.7) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A vehicle with ID 13 is 7.0 meters away at (-5.8, -4.0). A unknown object with ID 29 is 25.2 meters away at (-23.9, 7.8). A unknown object with ID 30 is 25.3 meters away at (-24.5, 6.6). A pedestrian with ID 23 is 33.9 meters away at (-30.0, 15.9). A vehicle with ID 6 is 35.8 meters away at (24.4, -26.2). A unknown object with ID 26 is 42.7 meters away at (-42.5, 4.0). A unknown object with ID 25 is 43.6 meters away at (-43.3, 5.7). A unknown object with ID 11 is 44.9 meters away at (-44.6, 5.1). A unknown object with ID 24 is 45.2 meters away at (-44.9, 5.3). A vehicle with ID 19 is 72.5 meters away at (-70.2, 18.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-11.09143   5.3747 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0745488  -0.51289356] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.95778    -0.77277017] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -4.6) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A vehicle with ID 6 is 20.2 meters away at (9.8, -17.6). A unknown object with ID 29 is 41.8 meters away at (-38.4, 16.4). A unknown object with ID 30 is 41.9 meters away at (-39.0, 15.1). A vehicle with ID 13 is 44.3 meters away at (-42.1, 14.0). A pedestrian with ID 23 is 48.6 meters away at (-42.4, 23.6). A unknown object with ID 26 is 58.5 meters away at (-57.1, 12.7). A unknown object with ID 25 is 59.5 meters away at (-57.8, 14.1). A unknown object with ID 24 is 61.1 meters away at (-59.5, 13.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.356335    4.2673025] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.98924226 -0.49503246] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.2) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 6 is 5.9 meters away at (4.9, 3.3). A vehicle with ID 30 is 6.7 meters away at (-0.2, 6.7). A unknown object with ID 33 is 11.7 meters away at (-11.6, 1.7). A unknown object with ID 35 is 12.3 meters away at (-12.2, 1.1). A unknown object with ID 34 is 12.5 meters away at (-12.3, 2.1). A vehicle with ID 4 is 14.3 meters away at (8.1, 11.8). A vehicle with ID 37 is 20.0 meters away at (-13.0, -15.2). A vehicle with ID 36 is 24.9 meters away at (-19.3, 15.7). A unknown object with ID 38 is 30.6 meters away at (-19.4, 23.6). A vehicle with ID 50 is 32.5 meters away at (27.5, 17.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.0445786 -4.1263356] m/s.The vehicle with ID 30 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.5474685 -3.6177824] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0.9397632 2.7971232] m/s.The vehicle 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 50 is traveling at a (x, y) velocity of [-5.4317856  2.3627224] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A vehicle with ID 37 is 6.2 meters away at (-5.6, 2.6). A vehicle with ID 6 is 9.5 meters away at (6.1, 7.3). A unknown object with ID 35 is 15.6 meters away at (-6.5, 14.2). A unknown object with ID 33 is 16.0 meters away at (-5.9, 14.8). A unknown object with ID 34 is 16.6 meters away at (-6.6, 15.2). A vehicle with ID 4 is 20.4 meters away at (10.3, 17.6). A vehicle with ID 30 is 20.6 meters away at (5.6, 19.9). A pedestrian with ID 31 is 23.3 meters away at (-19.6, -12.6). A pedestrian with ID 32 is 23.8 meters away at (-20.4, -12.3). A pedestrian with ID 25 is 34.8 meters away at (-9.8, -33.4).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0.80988383 2.052008  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.3830068 -4.90895  ] 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 33 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 vehicle with ID 4 is traveling at a (x, y) velocity of [-2.059429  -4.1092587] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.24417198 0.5225494 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.3052309 0.5749833] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.03561591  0.03665322] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.2) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 6 is 12.7 meters away at (7.2, 10.4). A pedestrian with ID 31 is 13.3 meters away at (-13.3, 1.3). A pedestrian with ID 32 is 14.1 meters away at (-14.0, 1.7). A vehicle with ID 37 is 19.7 meters away at (1.9, 19.6). A pedestrian with ID 25 is 20.7 meters away at (-4.1, -20.3). A vehicle with ID 3 is 24.0 meters away at (-6.5, -23.1). A vehicle with ID 4 is 24.6 meters away at (11.5, 21.8). A vehicle with ID 14 is 26.8 meters away at (-26.0, -6.4). A unknown object with ID 35 is 27.2 meters away at (-0.7, 27.2). A unknown object with ID 33 is 27.8 meters away at (-0.2, 27.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.277226  -4.9056735] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.16026163 0.30296925] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.2308664  0.52161723] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0.9245088 2.1463766] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.08862595  0.09047642] m/s.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 [-2.4772663 -4.5927973] m/s.The vehicle with ID 14 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.2) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 25 is 8.8 meters away at (1.2, -8.7). A vehicle with ID 3 is 11.6 meters away at (-1.2, -11.6). A vehicle with ID 6 is 15.3 meters away at (8.5, 12.7). A pedestrian with ID 31 is 15.6 meters away at (-8.0, 13.3). A pedestrian with ID 32 is 16.2 meters away at (-8.5, 13.8). A pedestrian with ID 20 is 23.2 meters away at (0.4, -23.2). A vehicle with ID 29 is 23.6 meters away at (-18.3, -15.0). A unknown object with ID 72 is 26.5 meters away at (-22.3, -14.3). A unknown object with ID 22 is 26.7 meters away at (-22.6, -14.2). A vehicle with ID 4 is 27.1 meters away at (12.0, 24.2).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.07204109  0.09078831] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.4024596 -4.217123 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00525895 0.03740534] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00967986  0.0820494 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01456889 -0.01903517] m/s.The vehicle 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 22 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 [-2.3110888 -4.6396785] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 2.5) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A pedestrian with ID 27 is 12.4 meters away at (5.8, -11.0). A pedestrian with ID 29 is 13.2 meters away at (12.3, 4.8). A pedestrian with ID 28 is 13.5 meters away at (12.8, 4.3). A pedestrian with ID 30 is 13.8 meters away at (12.7, 5.4). A pedestrian with ID 32 is 31.1 meters away at (-29.3, 10.5). A pedestrian with ID 19 is 31.4 meters away at (31.1, 4.2). A pedestrian with ID 33 is 55.0 meters away at (51.9, -18.1). A unknown object with ID 35 is 58.5 meters away at (56.0, -17.1). A vehicle with ID 2 is 72.1 meters away at (-58.5, 42.1). A pedestrian with ID 1 is 73.4 meters away at (-58.7, 44.1).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.0872883 -0.9138862] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1641783   0.09001581] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0848283  0.1838735] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.20799     0.12971304] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.41805938 -1.4919144 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.792885  -0.9554315] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.13349338 -0.1586919 ] m/s.The unknown object with ID 35 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 pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02592678 -0.02807277] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.1) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 29 is 19.1 meters away at (19.0, -1.0). A pedestrian with ID 30 is 19.6 meters away at (19.6, -0.1). A pedestrian with ID 28 is 19.8 meters away at (19.8, -0.8). A pedestrian with ID 27 is 25.3 meters away at (17.2, -18.5). A pedestrian with ID 19 is 39.2 meters away at (39.1, -3.2). A pedestrian with ID 9 is 41.4 meters away at (41.4, 0.5). A vehicle with ID 2 is 61.4 meters away at (-49.5, 36.4). A pedestrian with ID 1 is 62.0 meters away at (-49.0, 38.0). A pedestrian with ID 26 is 67.8 meters away at (-48.9, 47.1). A pedestrian with ID 25 is 67.9 meters away at (-48.3, 47.7).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2117903   0.17029883] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2177175   0.11757085] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1964326   0.12032296] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.1168898  -0.71032184] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.24984762 -1.0842738 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.4146437 -1.3610766] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.21172492 -0.20126949] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9757004  0.7671441] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0206612   0.79770935] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.6) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A pedestrian with ID 13 is 14.4 meters away at (-0.5, 14.3). A pedestrian with ID 11 is 15.3 meters away at (0.1, 15.2). A pedestrian with ID 6 is 21.2 meters away at (-7.8, 19.7). A pedestrian with ID 29 is 27.2 meters away at (26.2, -7.5). A pedestrian with ID 30 is 27.4 meters away at (26.6, -6.6). A pedestrian with ID 28 is 27.8 meters away at (26.8, -7.3). A pedestrian with ID 27 is 39.5 meters away at (29.0, -26.8). A pedestrian with ID 19 is 49.6 meters away at (48.1, -12.3). A vehicle with ID 2 is 49.8 meters away at (-40.2, 29.4). A pedestrian with ID 9 is 50.0 meters away at (49.3, -8.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00912854 -0.03454467] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.02516319 -0.00936118] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8682831  -0.91176546] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1355889   0.16893911] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1293628  0.0949704] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1261325  0.1243613] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.8280343 -0.9439221] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01016017 -1.510919  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.54515105 -1.2233031 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.9) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 6 is 10.5 meters away at (2.9, 10.0). A pedestrian with ID 13 is 11.0 meters away at (8.7, 6.7). A pedestrian with ID 11 is 12.1 meters away at (9.4, 7.5). A pedestrian with ID 20 is 15.6 meters away at (0.5, -15.6). A pedestrian with ID 29 is 36.0 meters away at (33.0, -14.3). A pedestrian with ID 30 is 36.5 meters away at (33.8, -13.6). A pedestrian with ID 28 is 36.7 meters away at (33.9, -14.1). A vehicle with ID 2 is 37.8 meters away at (-30.9, 21.8). A pedestrian with ID 1 is 39.2 meters away at (-31.5, 23.3). A pedestrian with ID 25 is 49.2 meters away at (-33.0, 36.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.88794875 -0.9039883 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00608099 0.00527106] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.0175907  -0.02520316] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.44865546 -0.7534491 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1472869   0.45217368] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1132871   0.39067072] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0931271   0.41651478] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00010009 -0.00944227] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.71267974  0.9558173 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.82

The most relevant actors are: A unknown object with ID 52 is 8.3 meters away at (-7.3, 4.1). A unknown object with ID 53 is 8.7 meters away at (-8.7, 1.2). A unknown object with ID 54 is 9.2 meters away at (-6.3, 6.7). A unknown object with ID 55 is 10.3 meters away at (-10.2, -1.4). A unknown object with ID 56 is 10.9 meters away at (-5.8, 9.3). A unknown object with ID 57 is 12.5 meters away at (-11.9, -3.9). A unknown object with ID 58 is 15.0 meters away at (-13.7, -6.2). A unknown object with ID 59 is 16.1 meters away at (-14.4, -7.1). A unknown object with ID 61 is 18.0 meters away at (-15.8, -8.7). A unknown object with ID 62 is 19.7 meters away at (-17.0, -9.9).

The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 61 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-7.2535763  4.115601 ], 8.339816093444824 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 2.6) m/s. Its current heading (yaw) is 1.09

The most relevant actors are: A unknown object with ID 52 is 9.2 meters away at (-9.0, 1.7). A unknown object with ID 54 is 9.2 meters away at (-8.0, 4.7). A unknown object with ID 56 is 10.2 meters away at (-7.4, 7.1). A unknown object with ID 53 is 10.4 meters away at (-10.3, -1.0). A unknown object with ID 55 is 12.4 meters away at (-11.9, -3.6). A unknown object with ID 44 is 12.9 meters away at (-7.5, 10.6). A unknown object with ID 30 is 14.0 meters away at (-12.7, 5.9). A unknown object with ID 57 is 15.2 meters away at (-13.8, -6.4). A unknown object with ID 39 is 16.2 meters away at (-12.3, 10.5). A unknown object with ID 58 is 17.0 meters away at (-15.0, -8.0).

The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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: Slight right turn approaching.

(The closest actor is a unknown object at [-8.998496   1.7018943], 9.1580228805542 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 4.9) m/s. Its current heading (yaw) is 1.77

The most relevant actors are: A unknown object with ID 56 is 8.9 meters away at (-8.9, -0.4). A unknown object with ID 44 is 9.3 meters away at (-9.0, 2.7). A unknown object with ID 54 is 9.8 meters away at (-9.4, -2.9). A unknown object with ID 52 is 12.0 meters away at (-10.4, -5.9). A unknown object with ID 30 is 14.4 meters away at (-14.3, -1.8). A vehicle with ID 65 is 14.5 meters away at (5.4, 13.4). A unknown object with ID 53 is 14.6 meters away at (-11.8, -8.5). A vehicle with ID 64 is 16.6 meters away at (16.1, 3.9). A unknown object with ID 55 is 17.5 meters away at (-13.4, -11.2). A unknown object with ID 57 is 20.5 meters away at (-15.2, -13.8).

The unknown object with ID 56 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 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 unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.897421   -0.39249516], 8.906073570251465 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 5.7) m/s. Its current heading (yaw) is 2.16

The most relevant actors are: A unknown object with ID 44 is 8.6 meters away at (-3.8, -7.7). A vehicle with ID 65 is 10.8 meters away at (10.4, 2.8). A unknown object with ID 56 is 12.1 meters away at (-3.8, -11.4). A unknown object with ID 54 is 14.8 meters away at (-4.4, -14.1). A unknown object with ID 27 is 15.2 meters away at (-4.5, -14.5). A unknown object with ID 52 is 18.2 meters away at (-5.6, -17.3). A unknown object with ID 53 is 20.3 meters away at (-6.6, -19.2). A vehicle with ID 64 is 22.3 meters away at (21.2, -6.7). A unknown object with ID 55 is 23.2 meters away at (-8.0, -21.8). A unknown object with ID 42 is 24.4 meters away at (-8.7, -22.8).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 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 unknown object with ID 55 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: Continue straight.

(The closest actor is a unknown object at [-3.8364525 -7.7205486], 8.621209144592285 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.1) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 76 is 16.3 meters away at (2.0, -16.2). A vehicle with ID 80 is 29.0 meters away at (4.5, -28.6). A pedestrian with ID 81 is 29.2 meters away at (24.1, -16.5). A vehicle with ID 82 is 31.8 meters away at (24.8, -19.8). A vehicle with ID 79 is 33.4 meters away at (0.5, -33.4). A vehicle with ID 78 is 37.9 meters away at (-3.3, -37.7). A vehicle with ID 83 is 41.3 meters away at (15.7, 38.2). A vehicle with ID 17 is 42.0 meters away at (-6.7, -41.5). A vehicle with ID 84 is 42.4 meters away at (11.4, 40.9). A vehicle with ID 85 is 44.7 meters away at (6.1, 44.3).

The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.17577255 -0.34604546] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 (3.0, -2.5) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 76 is 12.7 meters away at (-2.9, -12.4). A vehicle with ID 26 is 22.0 meters away at (-9.4, -19.9). A pedestrian with ID 81 is 23.2 meters away at (19.0, -13.2). A vehicle with ID 80 is 24.7 meters away at (-0.4, -24.7). A vehicle with ID 82 is 25.2 meters away at (19.6, -15.9). A vehicle with ID 23 is 29.1 meters away at (-14.3, -25.4). A vehicle with ID 79 is 29.9 meters away at (-4.4, -29.6). A vehicle with ID 78 is 34.9 meters away at (-8.2, -33.9). A vehicle with ID 16 is 36.5 meters away at (-18.8, -31.3). A pedestrian with ID 18 is 36.5 meters away at (-23.6, -27.9).

The vehicle with ID 76 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 pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.13247201 -0.05676945] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.39587536 0.25725693] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -4.0) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 76 is 8.8 meters away at (-6.5, -6.0). A pedestrian with ID 81 is 16.9 meters away at (15.6, -6.5). A vehicle with ID 80 is 18.6 meters away at (-3.9, -18.2). A vehicle with ID 26 is 18.6 meters away at (-12.8, -13.5). A vehicle with ID 82 is 18.7 meters away at (16.2, -9.3). A vehicle with ID 79 is 24.5 meters away at (-7.9, -23.2). A vehicle with ID 23 is 26.0 meters away at (-17.7, -19.1). A vehicle with ID 50 is 27.1 meters away at (22.6, -14.9). A vehicle with ID 78 is 29.8 meters away at (-11.7, -27.4). A vehicle with ID 77 is 32.8 meters away at (23.5, 22.9).

The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.0043695  -0.00925516] m/s.The vehicle with ID 80 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 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.2478855 -1.56161  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.7) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 76 is 3.5 meters away at (-2.6, 2.4). A vehicle with ID 80 is 9.8 meters away at (-0.0, -9.8). A vehicle with ID 26 is 10.3 meters away at (-9.0, -5.0). A vehicle with ID 79 is 15.2 meters away at (-4.1, -14.7). A vehicle with ID 23 is 17.4 meters away at (-13.9, -10.5). A pedestrian with ID 81 is 19.5 meters away at (19.4, 1.8). A vehicle with ID 82 is 20.0 meters away at (20.0, -1.0). A vehicle with ID 78 is 20.5 meters away at (-7.9, -18.9). A vehicle with ID 16 is 24.7 meters away at (-18.6, -16.4). A vehicle with ID 17 is 25.5 meters away at (-11.3, -22.8).

The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.00594443 -0.00697428] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A unknown object with ID 44 is 9.7 meters away at (-7.1, 6.6). A unknown object with ID 54 is 10.6 meters away at (-9.5, 4.7). A unknown object with ID 49 is 11.4 meters away at (-9.0, 7.0). A unknown object with ID 51 is 12.6 meters away at (-11.5, 5.0). A unknown object with ID 61 is 12.6 meters away at (-11.0, 6.1). A unknown object with ID 33 is 12.9 meters away at (-9.9, 8.3). A unknown object with ID 52 is 13.0 meters away at (-10.0, 8.3). A unknown object with ID 53 is 13.1 meters away at (-11.2, 6.8). A unknown object with ID 63 is 13.2 meters away at (-12.0, 5.5). A pedestrian with ID 57 is 13.7 meters away at (-12.4, 6.0).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 unknown object with ID 61 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00790561  0.00337439] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.1267805  6.640641 ], 9.741104125976562 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A unknown object with ID 44 is 7.6 meters away at (-3.7, 6.7). A unknown object with ID 54 is 7.7 meters away at (-6.0, 4.7). A unknown object with ID 49 is 9.0 meters away at (-5.6, 7.1). A unknown object with ID 51 is 9.5 meters away at (-8.1, 5.1). A unknown object with ID 53 is 10.1 meters away at (-7.5, 6.8). A unknown object with ID 33 is 10.6 meters away at (-6.5, 8.4). A unknown object with ID 52 is 10.6 meters away at (-6.6, 8.3). A pedestrian with ID 57 is 10.8 meters away at (-8.9, 6.1). A pedestrian with ID 30 is 10.9 meters away at (-9.0, 6.1). A pedestrian with ID 60 is 11.3 meters away at (-9.0, 6.9).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 unknown object with ID 53 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02301586 0.02322985] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02328021 0.01247773] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00346849 0.00845036] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.6700926  6.674911 ], 7.617349624633789 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 -3.14

The most relevant actors are: A unknown object with ID 54 is 7.4 meters away at (-5.7, 4.7). A unknown object with ID 44 is 7.5 meters away at (-3.4, 6.7). A unknown object with ID 49 is 8.9 meters away at (-5.4, 7.0). A unknown object with ID 51 is 9.4 meters away at (-7.9, 5.1). A unknown object with ID 53 is 9.9 meters away at (-7.3, 6.8). A unknown object with ID 52 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 57 is 10.6 meters away at (-8.7, 6.1). A pedestrian with ID 60 is 11.1 meters away at (-8.7, 6.8). A unknown object with ID 50 is 16.8 meters away at (10.6, 13.1). A unknown object with ID 62 is 17.9 meters away at (9.6, 15.2).

The unknown object with ID 54 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 49 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 unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00205934  0.00116883] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.00544145 -0.00112471] 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-5.7449017  4.702145 ], 7.423884868621826 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 -3.14

The most relevant actors are: A unknown object with ID 44 is 7.4 meters away at (-3.3, 6.7). A unknown object with ID 16 is 8.6 meters away at (-6.7, 5.5). A unknown object with ID 49 is 8.8 meters away at (-5.3, 7.0). A unknown object with ID 51 is 9.4 meters away at (-7.8, 5.1). A vehicle with ID 7 is 9.7 meters away at (-9.2, 3.0). A vehicle with ID 117 is 9.8 meters away at (-9.3, 3.0). A unknown object with ID 8 is 9.9 meters away at (-8.1, 5.6). A unknown object with ID 53 is 9.9 meters away at (-7.3, 6.8). A unknown object with ID 52 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 57 is 10.5 meters away at (-8.6, 6.1).

The unknown object with ID 44 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 49 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 vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.8502917  -0.01520871] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [ 4.718907   -0.08179083] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0021899  -0.00284149] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.3249722  6.6576433], 7.441750526428223 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -0.3) m/s. Its current heading (yaw) is -0.13

The most relevant actors are: A pedestrian with ID 8 is 39.3 meters away at (21.1, 33.2). A pedestrian with ID 11 is 44.3 meters away at (38.2, -22.5). A vehicle with ID 14 is 70.5 meters away at (-49.4, -50.3).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.05107599 1.5545644 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.10699987 1.2002498 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 0.9) m/s. Its current heading (yaw) is 0.22

The most relevant actors are: A pedestrian with ID 11 is 37.4 meters away at (31.5, -20.1). A pedestrian with ID 8 is 39.2 meters away at (15.9, 35.9).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.22286506 1.3438302 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.78031915 1.3227552 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.3) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A unknown object with ID 3 is 27.4 meters away at (-5.4, 26.8). A pedestrian with ID 11 is 33.4 meters away at (24.3, -22.9). A pedestrian with ID 8 is 34.2 meters away at (9.0, 32.9). A vehicle with ID 1 is 68.4 meters away at (56.6, -38.5).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.638671  1.4558932] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.03525028  1.296486  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.9440856  3.2816157] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-5.4107685 26.84074  ], 27.38068199157715 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.9) m/s. Its current heading (yaw) is 1.05

The most relevant actors are: A pedestrian with ID 8 is 27.5 meters away at (3.5, 27.3). A pedestrian with ID 11 is 35.0 meters away at (20.4, -28.4). A vehicle with ID 1 is 59.1 meters away at (42.3, -41.3).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.23586683  1.4664016 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.6369782 1.1895715] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.031512   2.6299827] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -0.6) m/s. Its current heading (yaw) is -0.07

The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (0.8, 4.2). A vehicle with ID 21 is 8.2 meters away at (7.4, 3.5). A vehicle with ID 28 is 19.4 meters away at (19.2, 2.4). A pedestrian with ID 19 is 20.6 meters away at (-13.8, -15.3). A unknown object with ID 4 is 46.1 meters away at (-44.5, -11.9). A unknown object with ID 22 is 46.8 meters away at (-45.6, -10.3). A unknown object with ID 23 is 48.5 meters away at (-47.6, -9.3). A unknown object with ID 24 is 50.1 meters away at (-49.4, -8.7). A unknown object with ID 25 is 50.5 meters away at (-49.4, -10.7). A unknown object with ID 26 is 51.5 meters away at (-49.9, -12.7).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.09230371 0.20708546] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, -0.8) m/s. Its current heading (yaw) is -0.08

The most relevant actors are: A vehicle with ID 28 is 4.4 meters away at (2.1, 3.8). A vehicle with ID 21 is 11.0 meters away at (-9.8, 5.0). A vehicle with ID 20 is 17.4 meters away at (-16.5, 5.6). A unknown object with ID 8 is 29.2 meters away at (-29.2, -1.3). A pedestrian with ID 19 is 34.1 meters away at (-31.2, -13.8). A pedestrian with ID 6 is 35.0 meters away at (-32.1, -14.0). A unknown object with ID 11 is 56.8 meters away at (56.8, -0.2). A unknown object with ID 22 is 63.6 meters away at (-63.0, -8.9). A unknown object with ID 23 is 65.5 meters away at (-65.1, -8.0). A unknown object with ID 24 is 67.1 meters away at (-66.7, -7.4).

The vehicle with ID 28 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 20 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 19 is traveling at a (x, y) velocity of [-0.01022851 -0.00369747] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.06713761 0.01879776] 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, -1.0) m/s. Its current heading (yaw) is -0.10

The most relevant actors are: A vehicle with ID 28 is 16.6 meters away at (-15.7, 5.5). A vehicle with ID 21 is 28.4 meters away at (-27.7, 6.6). A vehicle with ID 20 is 35.1 meters away at (-34.4, 7.2). A unknown object with ID 11 is 38.9 meters away at (38.9, 1.6). A unknown object with ID 15 is 40.0 meters away at (40.0, 0.5). A pedestrian with ID 19 is 50.5 meters away at (-49.0, -12.1).

The vehicle with ID 28 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 20 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.02075949 -0.05193111] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -1.0) m/s. Its current heading (yaw) is -0.12

The most relevant actors are: A vehicle with ID 28 is 34.3 meters away at (-33.4, 7.5). A vehicle with ID 21 is 46.2 meters away at (-45.5, 8.5). A vehicle with ID 20 is 53.0 meters away at (-52.1, 9.2). A unknown object with ID 17 is 67.6 meters away at (-66.8, -10.1). A pedestrian with ID 19 is 67.7 meters away at (-66.9, -10.2).

The vehicle with ID 28 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.03089785  0.00198902] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 4.9) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A vehicle with ID 13 is 5.0 meters away at (4.6, 1.9). A vehicle with ID 15 is 16.4 meters away at (16.0, -3.7). A vehicle with ID 16 is 18.1 meters away at (13.5, -12.2). A vehicle with ID 17 is 39.8 meters away at (2.9, -39.7). A pedestrian with ID 18 is 40.6 meters away at (30.1, 27.3). A unknown object with ID 19 is 45.3 meters away at (13.7, 43.2). A unknown object with ID 7 is 67.3 meters away at (26.2, 62.0).

The vehicle with ID 13 is traveling at a (x, y) velocity of [1.9403427 6.8714952] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.35586888 1.6049103 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[12.51665  27.365265]
 [10.312739 28.233685]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.9) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A vehicle with ID 13 is 8.4 meters away at (6.9, 4.8). A vehicle with ID 15 is 18.8 meters away at (14.2, -12.4). A vehicle with ID 16 is 24.0 meters away at (11.7, -20.9). A pedestrian with ID 18 is 35.8 meters away at (28.5, 21.6). A unknown object with ID 19 is 36.5 meters away at (12.0, 34.5). A vehicle with ID 17 is 48.5 meters away at (1.1, -48.5). A unknown object with ID 7 is 58.5 meters away at (24.2, 53.3). A vehicle with ID 9 is 61.7 meters away at (61.7, -1.3). A pedestrian with ID 8 is 66.7 meters away at (66.1, 9.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [2.6498702 4.424139 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.16139275 1.3768209 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.03049784 -0.03362791] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 4.0) m/s. Its current heading (yaw) is 1.71

The most relevant actors are: A vehicle with ID 13 is 14.0 meters away at (13.7, 2.5). A vehicle with ID 15 is 24.7 meters away at (14.1, -20.3). A unknown object with ID 19 is 29.0 meters away at (11.9, 26.5). A vehicle with ID 16 is 31.0 meters away at (11.5, -28.8). A unknown object with ID 3 is 31.2 meters away at (12.6, 28.5). A pedestrian with ID 18 is 33.3 meters away at (28.8, 16.6). A pedestrian with ID 6 is 53.9 meters away at (52.1, -13.6). A vehicle with ID 17 is 56.4 meters away at (0.9, -56.4). A vehicle with ID 9 is 62.3 meters away at (61.6, -9.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [4.502285  1.4377855] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.21381995 1.5739655 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.6788798  -0.77785283] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.3) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A unknown object with ID 19 is 24.1 meters away at (14.8, 19.0). A unknown object with ID 2 is 25.0 meters away at (14.9, 20.1). A unknown object with ID 3 is 26.2 meters away at (15.5, 21.2). A vehicle with ID 13 is 27.7 meters away at (27.2, -5.0). A vehicle with ID 15 is 32.6 meters away at (17.2, -27.7). A pedestrian with ID 18 is 34.4 meters away at (32.2, 12.3). A vehicle with ID 16 is 39.1 meters away at (14.6, -36.3). A unknown object with ID 10 is 59.1 meters away at (54.3, -23.2). A vehicle with ID 17 is 64.0 meters away at (4.0, -63.9). A vehicle with ID 9 is 66.8 meters away at (64.7, -16.5).

The unknown object with ID 19 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 vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.529115  -1.0930129] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.14743109 1.5042936 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [14.81379  19.040218], 24.124225616455078 meters away.)