The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.7) m/s. Its current heading (yaw) is 1.89

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 10.6) m/s. Its current heading (yaw) is 1.87

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -5.2) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 54 is 4.2 meters away at (3.5, -2.3). A unknown object with ID 42 is 6.1 meters away at (2.0, 5.7). A vehicle with ID 55 is 7.5 meters away at (3.7, -6.5). A vehicle with ID 56 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 53 is 8.7 meters away at (8.3, -2.6). A vehicle with ID 50 is 9.7 meters away at (9.4, 2.6). A vehicle with ID 58 is 12.5 meters away at (-3.2, -12.0). A vehicle with ID 51 is 13.4 meters away at (13.3, 1.1). A vehicle with ID 59 is 15.5 meters away at (-9.5, -12.3). A vehicle with ID 52 is 17.6 meters away at (17.6, 0.0).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -5.6) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 59 is 4.5 meters away at (4.3, -1.5). A vehicle with ID 61 is 5.8 meters away at (-1.5, -5.6). A vehicle with ID 60 is 7.2 meters away at (5.2, -5.0). A vehicle with ID 62 is 9.6 meters away at (-0.7, -9.5). A vehicle with ID 58 is 10.7 meters away at (10.6, -1.2). A vehicle with ID 56 is 11.3 meters away at (10.7, 3.6). A vehicle with ID 63 is 12.9 meters away at (-7.7, -10.4). A vehicle with ID 35 is 15.1 meters away at (-6.5, -13.6). A vehicle with ID 55 is 18.2 meters away at (17.7, 4.3). A vehicle with ID 54 is 19.4 meters away at (17.4, 8.5).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 (-7.4, -5.9) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 65 is 5.6 meters away at (-1.7, -5.4). A vehicle with ID 47 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 63 is 7.2 meters away at (7.1, 1.2). A vehicle with ID 35 is 8.6 meters away at (8.4, -1.9). A vehicle with ID 28 is 10.5 meters away at (-2.1, -10.3). A vehicle with ID 62 is 14.3 meters away at (14.1, 2.1). A vehicle with ID 61 is 14.5 meters away at (13.3, 5.9). A vehicle with ID 29 is 16.8 meters away at (-8.4, -14.5). A vehicle with ID 60 is 21.2 meters away at (20.2, 6.7). A vehicle with ID 59 is 21.7 meters away at (19.2, 10.1).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[7.611071  3.5137823]
 [7.7807913 3.38207  ]]

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 25 is 6.2 meters away at (1.7, -6.0). A vehicle with ID 29 is 6.6 meters away at (6.0, -2.6). A vehicle with ID 30 is 9.6 meters away at (-4.7, -8.4). A vehicle with ID 28 is 12.5 meters away at (12.4, 1.6). A vehicle with ID 65 is 14.3 meters away at (12.8, 6.5). A vehicle with ID 21 is 16.4 meters away at (-10.1, -12.9). A unknown object with ID 44 is 17.1 meters away at (8.0, 15.1). A vehicle with ID 47 is 18.5 meters away at (17.5, 5.8). A vehicle with ID 49 is 23.9 meters away at (-15.4, -18.3). A vehicle with ID 35 is 25.2 meters away at (23.0, 10.2).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[7.611071  3.5137823]
 [7.7807913 3.38207  ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -9.8) m/s. Its current heading (yaw) is -1.60

The most relevant actors are: A pedestrian with ID 8 is 54.9 meters away at (23.0, 49.8).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00339201 -0.00260812] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -9.7) m/s. Its current heading (yaw) is -1.26

The most relevant actors are: A pedestrian with ID 8 is 72.6 meters away at (20.8, 69.5).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.02622932 0.00751742] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [20.83002 69.50449], 72.5586929321289 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -8.7) m/s. Its current heading (yaw) is -0.98

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -8.9) m/s. Its current heading (yaw) is -0.95

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 24 is 12.1 meters away at (10.1, 6.7).

The vehicle with ID 24 is traveling at a (x, y) velocity of [3.9847665 0.686096 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.8) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A vehicle with ID 24 is 32.8 meters away at (32.8, -0.6).

The vehicle with ID 24 is traveling at a (x, y) velocity of [3.7651095 2.0397213] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.2) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 6 is 49.7 meters away at (-34.6, 35.6).

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 (6.1, -3.4) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A pedestrian with ID 32 is 9.6 meters away at (-9.5, -1.1). A vehicle with ID 14 is 26.1 meters away at (-26.0, 1.8). A vehicle with ID 34 is 32.7 meters away at (-16.0, -28.5). A vehicle with ID 33 is 34.4 meters away at (-23.6, -25.0). A vehicle with ID 35 is 40.6 meters away at (-35.5, -19.7). A pedestrian with ID 26 is 42.4 meters away at (0.2, -42.4). A pedestrian with ID 29 is 48.8 meters away at (14.7, -46.6). A pedestrian with ID 30 is 49.6 meters away at (14.3, -47.5). A pedestrian with ID 31 is 49.7 meters away at (13.9, -47.7). A pedestrian with ID 36 is 71.1 meters away at (-68.3, -19.5).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.02406032 -0.02227779] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.1551445 3.1688485] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.2690695   0.04526031] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0746936 -0.7900272] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.99581254 -0.72069997] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1693155 -0.7198889] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.64859194 1.1419514 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.7) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 32 is 23.4 meters away at (-22.7, 5.7). A vehicle with ID 28 is 36.3 meters away at (-29.1, -21.7). A vehicle with ID 14 is 36.6 meters away at (-34.0, 13.6). A pedestrian with ID 26 is 37.9 meters away at (-13.1, -35.6). A vehicle with ID 33 is 41.1 meters away at (-36.8, -18.2). A pedestrian with ID 29 is 41.4 meters away at (3.6, -41.2). A pedestrian with ID 30 is 42.2 meters away at (3.3, -42.0). A pedestrian with ID 31 is 42.2 meters away at (2.9, -42.1). A vehicle with ID 35 is 50.4 meters away at (-48.7, -12.9). A vehicle with ID 7 is 68.9 meters away at (29.0, -62.5).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00920486 -0.04193929] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [3.1609614 1.1840065] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.03887412 -0.06048895] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1878946  -0.76370084] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1330618  -0.77690023] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.097616   -0.76367474] m/s.The vehicle with ID 35 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.6) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A unknown object with ID 23 is 14.1 meters away at (13.6, 3.6). A unknown object with ID 19 is 20.0 meters away at (-10.2, 17.2). A pedestrian with ID 29 is 36.2 meters away at (-7.6, -35.4). A pedestrian with ID 30 is 36.9 meters away at (-7.8, -36.1). A pedestrian with ID 31 is 37.2 meters away at (-8.5, -36.2). A pedestrian with ID 32 is 38.3 meters away at (-36.2, 12.7). A vehicle with ID 28 is 45.0 meters away at (-42.6, -14.5). A vehicle with ID 14 is 45.4 meters away at (-40.0, 21.3). A vehicle with ID 33 is 51.5 meters away at (-50.3, -11.0). A vehicle with ID 7 is 57.7 meters away at (15.5, -55.5).

The unknown object with ID 23 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0873073 -0.7668459] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0863639 -0.738803 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0542914 -0.7074763] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.05994638 -0.12416026] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.4669576  -0.93755317] m/s.The vehicle with ID 33 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: Continue straight.

(The closest actor is a unknown object at [13.633942   3.5623379], 14.09165096282959 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -4.1) m/s. Its current heading (yaw) is -0.52

The most relevant actors are: A unknown object with ID 23 is 10.7 meters away at (0.1, 10.7). A pedestrian with ID 29 is 34.8 meters away at (-18.7, -29.4). A pedestrian with ID 30 is 35.8 meters away at (-19.0, -30.3). A pedestrian with ID 31 is 36.2 meters away at (-19.9, -30.3). A vehicle with ID 7 is 48.4 meters away at (1.8, -48.3). A vehicle with ID 14 is 52.3 meters away at (-45.6, 25.6). A vehicle with ID 8 is 53.8 meters away at (1.1, -53.8). A vehicle with ID 6 is 55.3 meters away at (14.9, -53.2). A vehicle with ID 28 is 56.6 meters away at (-56.1, -7.4). A unknown object with ID 24 is 62.0 meters away at (57.8, -22.5).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0881197 -0.7747197] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0030347  -0.72259843] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9791824 -0.7422962] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.705589  -2.3680124] m/s.The vehicle with ID 8 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 28 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: Continue straight.

(The closest actor is a unknown object at [ 0.07454681 10.68218   ], 10.682440757751465 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 39 is 20.7 meters away at (-13.4, -15.8). A unknown object with ID 37 is 26.9 meters away at (25.5, 8.5). A vehicle with ID 38 is 28.9 meters away at (13.5, 25.5). A vehicle with ID 36 is 29.9 meters away at (29.7, 3.5). A unknown object with ID 41 is 49.1 meters away at (47.9, -10.4). A unknown object with ID 35 is 53.7 meters away at (53.1, -8.4). A vehicle with ID 42 is 57.7 meters away at (-30.0, 49.4). A vehicle with ID 40 is 63.1 meters away at (41.6, 47.5). A pedestrian with ID 8 is 63.5 meters away at (47.3, 42.3). A vehicle with ID 43 is 65.7 meters away at (-36.2, 54.9).

The vehicle with ID 39 is traveling at a (x, y) velocity of [4.759669 5.600679] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.4257028 -1.6636635] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.3347692  1.0438385] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [7.468636 8.435687] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.8552283 1.0758806] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[18.934753 15.901236]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.2) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 39 is 15.2 meters away at (-9.9, -11.6). A vehicle with ID 38 is 15.4 meters away at (4.2, 14.8). A vehicle with ID 36 is 20.5 meters away at (20.4, 0.6). A unknown object with ID 37 is 21.3 meters away at (21.1, 3.3). A unknown object with ID 25 is 45.4 meters away at (42.2, -16.7). A unknown object with ID 22 is 45.6 meters away at (42.6, -16.3). A unknown object with ID 41 is 45.7 meters away at (42.8, -16.2). A unknown object with ID 31 is 46.1 meters away at (43.3, -15.7). A unknown object with ID 35 is 50.4 meters away at (48.5, -13.7). A vehicle with ID 42 is 56.0 meters away at (-34.3, 44.3).

The vehicle with ID 39 is traveling at a (x, y) velocity of [3.4757602 4.1004786] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.5081873 -4.089549 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7763183  1.048698 ] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 36 is 12.6 meters away at (9.1, -8.7). A unknown object with ID 37 is 13.9 meters away at (11.7, -7.4). A vehicle with ID 38 is 15.2 meters away at (-13.9, -6.2). A vehicle with ID 39 is 18.9 meters away at (-12.5, -14.2). A unknown object with ID 11 is 35.9 meters away at (23.1, -27.5). A unknown object with ID 25 is 42.8 meters away at (32.8, -27.5). A unknown object with ID 22 is 42.9 meters away at (33.2, -27.2). A unknown object with ID 41 is 42.9 meters away at (33.3, -27.1). A unknown object with ID 31 is 43.1 meters away at (34.0, -26.5). A unknown object with ID 35 is 46.2 meters away at (39.1, -24.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.9106315  0.8502441] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.9286456 -5.6268353] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.9885163 4.737458 ] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 (6.0, 7.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A unknown object with ID 37 is 21.0 meters away at (0.0, -21.0). A vehicle with ID 36 is 21.2 meters away at (-4.4, -20.7). A vehicle with ID 39 is 28.3 meters away at (-23.3, -16.1). A pedestrian with ID 8 is 35.3 meters away at (28.6, 20.6). A unknown object with ID 12 is 42.0 meters away at (11.3, -40.5). A unknown object with ID 28 is 42.4 meters away at (11.2, -40.9). A unknown object with ID 31 is 45.9 meters away at (22.2, -40.2). A unknown object with ID 41 is 46.1 meters away at (21.6, -40.7). A unknown object with ID 22 is 46.1 meters away at (21.4, -40.9). A unknown object with ID 35 is 46.9 meters away at (27.3, -38.1).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.67056036  0.8785516 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.5959158  6.827145 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.0098451 1.3817585] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 6.3761477 10.646598 ]
 [ 8.239551   9.745221 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 7.2) m/s. Its current heading (yaw) is 2.00

The most relevant actors are: A unknown object with ID 35 is 14.2 meters away at (13.9, -2.9). A unknown object with ID 28 is 15.8 meters away at (14.7, 5.8). A unknown object with ID 9 is 15.9 meters away at (14.3, 6.8). A unknown object with ID 32 is 15.9 meters away at (13.9, 7.8). A unknown object with ID 7 is 16.0 meters away at (16.0, 0.1). A unknown object with ID 22 is 16.0 meters away at (13.4, 8.8). A unknown object with ID 47 is 16.1 meters away at (15.6, 3.8). A unknown object with ID 23 is 16.2 meters away at (13.0, 9.7). A unknown object with ID 46 is 16.3 meters away at (16.1, 2.7). A unknown object with ID 45 is 16.6 meters away at (16.5, 1.7).

The unknown object with ID 35 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 47 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [13.850453  -2.9133778], 14.153544425964355 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 54 is 20.5 meters away at (20.3, 2.8). A unknown object with ID 15 is 21.2 meters away at (21.2, -0.4). A unknown object with ID 10 is 21.7 meters away at (21.7, -1.5). A vehicle with ID 5 is 21.7 meters away at (11.6, -18.4). A unknown object with ID 17 is 21.8 meters away at (21.7, -2.0). A unknown object with ID 23 is 22.3 meters away at (22.1, -2.6). A unknown object with ID 22 is 22.8 meters away at (22.6, -3.5). A unknown object with ID 32 is 23.4 meters away at (23.0, -4.5). A unknown object with ID 9 is 24.1 meters away at (23.5, -5.5). A unknown object with ID 28 is 24.8 meters away at (23.9, -6.5).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.0128054  -0.01908291] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 [-3.468735  8.297886] 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 23 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 32 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.1) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 5 is 21.5 meters away at (16.8, -13.4). A pedestrian with ID 54 is 35.1 meters away at (34.4, -6.9). A unknown object with ID 17 is 37.5 meters away at (35.7, -11.7). A unknown object with ID 22 is 39.1 meters away at (36.8, -13.3). A unknown object with ID 32 is 39.9 meters away at (37.3, -14.3). A unknown object with ID 9 is 40.7 meters away at (37.7, -15.3). A unknown object with ID 28 is 41.5 meters away at (38.2, -16.3). A unknown object with ID 47 is 42.4 meters away at (38.7, -17.3). A unknown object with ID 46 is 43.2 meters away at (39.2, -18.3). A unknown object with ID 36 is 54.6 meters away at (43.9, -32.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.0536222  6.570183 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.0415437  0.02347779] 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 5.4) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 5 is 21.6 meters away at (17.7, -12.4). A vehicle with ID 33 is 54.3 meters away at (54.1, -4.4).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.668871   5.7870584] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [  0.5860699 -10.502047 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 58 is 4.5 meters away at (0.3, -4.5). A vehicle with ID 63 is 4.8 meters away at (4.8, 0.4). A vehicle with ID 54 is 9.6 meters away at (-3.2, -9.0). A vehicle with ID 24 is 9.7 meters away at (8.4, 4.8). A vehicle with ID 64 is 14.2 meters away at (-11.3, 8.7). A vehicle with ID 57 is 16.5 meters away at (-14.9, -7.1). A vehicle with ID 27 is 16.5 meters away at (13.1, 10.1). A pedestrian with ID 55 is 17.1 meters away at (3.5, 16.7). A vehicle with ID 56 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 13 is 20.8 meters away at (-13.5, -15.8).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.49292707 -0.59557533] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [3.7622988 4.9002657] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.9, -0.7). A vehicle with ID 24 is 5.9 meters away at (-0.6, -5.8). A pedestrian with ID 55 is 8.0 meters away at (-6.2, 5.0). A vehicle with ID 25 is 8.7 meters away at (7.9, 3.7). A vehicle with ID 63 is 11.1 meters away at (-4.3, -10.2). A unknown object with ID 38 is 13.5 meters away at (-8.9, 10.1). A vehicle with ID 58 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 49 is 20.3 meters away at (7.6, 18.8). A vehicle with ID 64 is 20.6 meters away at (-20.4, -2.4). A vehicle with ID 13 is 21.0 meters away at (-13.9, -15.7).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.15691395 -0.0017427 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.902482  5.9793477] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 5.9) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 28 is 6.7 meters away at (6.4, 2.1). A vehicle with ID 49 is 7.7 meters away at (-2.2, 7.4). A vehicle with ID 25 is 7.8 meters away at (-1.8, -7.6). A vehicle with ID 50 is 12.3 meters away at (1.9, 12.2). A vehicle with ID 27 is 13.4 meters away at (-5.8, -12.1). A pedestrian with ID 55 is 17.3 meters away at (-16.0, -6.4). A vehicle with ID 51 is 17.4 meters away at (5.6, 16.5). A vehicle with ID 26 is 19.8 meters away at (15.2, 12.6). A vehicle with ID 13 is 20.0 meters away at (-13.3, -15.0). A vehicle with ID 24 is 20.2 meters away at (-10.5, -17.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.00093026  0.0187024 ] m/s.The vehicle with ID 51 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 13 is traveling at a (x, y) velocity of [5.1943903 6.060784 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.7) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 26 is 5.4 meters away at (5.3, 1.1). A vehicle with ID 51 is 6.6 meters away at (-4.4, 5.0). A vehicle with ID 50 is 8.1 meters away at (-8.1, 0.7). A vehicle with ID 28 is 9.9 meters away at (-3.5, -9.3). A vehicle with ID 1 is 10.9 meters away at (9.4, 5.6). A vehicle with ID 49 is 12.8 meters away at (-12.1, -4.0). A vehicle with ID 52 is 13.6 meters away at (2.7, 13.3). A vehicle with ID 53 is 18.3 meters away at (6.2, 17.2). A vehicle with ID 13 is 19.8 meters away at (-13.2, -14.8). A vehicle with ID 25 is 22.5 meters away at (-11.8, -19.1).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.984686  5.7757206] m/s.The vehicle with ID 25 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 (0.4, 1.5) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A unknown object with ID 28 is 13.1 meters away at (1.6, 13.0). A unknown object with ID 7 is 16.0 meters away at (15.8, 2.5). A unknown object with ID 35 is 17.2 meters away at (17.0, 2.8). A unknown object with ID 15 is 19.6 meters away at (19.3, 3.2). A unknown object with ID 36 is 45.6 meters away at (11.7, 44.1). A vehicle with ID 33 is 66.6 meters away at (24.7, 61.8).

The unknown object with ID 28 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 1.5667876 13.047648 ], 13.141383171081543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.1) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A unknown object with ID 23 is 10.5 meters away at (8.2, -6.5). A unknown object with ID 10 is 10.5 meters away at (6.6, -8.2). A unknown object with ID 7 is 14.0 meters away at (13.5, -3.5). A unknown object with ID 30 is 14.4 meters away at (3.0, 14.1). A unknown object with ID 35 is 15.1 meters away at (14.7, -3.2). A vehicle with ID 33 is 60.2 meters away at (22.4, 55.8).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 8.226555 -6.459166], 10.459303855895996 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.0) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A unknown object with ID 29 is 5.6 meters away at (-4.8, -2.9). A unknown object with ID 7 is 16.4 meters away at (9.3, -13.4). A unknown object with ID 35 is 16.9 meters away at (10.5, -13.2). A unknown object with ID 16 is 18.1 meters away at (12.9, -12.7). A vehicle with ID 33 is 49.4 meters away at (18.4, 45.9). A pedestrian with ID 1 is 76.7 meters away at (21.5, 73.6). A pedestrian with ID 2 is 77.4 meters away at (21.3, 74.5).

The unknown object with ID 29 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2408372  -0.11617725] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2735982  -0.15539117] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-4.8487926 -2.8993149], 5.649497032165527 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.5) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A unknown object with ID 21 is 10.5 meters away at (6.8, -8.1). A unknown object with ID 31 is 11.6 meters away at (7.2, -9.2). A vehicle with ID 33 is 36.3 meters away at (14.4, 33.3). A pedestrian with ID 1 is 64.5 meters away at (19.6, 61.4). A pedestrian with ID 2 is 64.8 meters away at (19.4, 61.8).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1105452  0.17295603] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.133473   0.09766084] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 6.7712736 -8.0655   ], 10.531022071838379 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 2.84

The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.5, -5.7). A vehicle with ID 27 is 7.6 meters away at (7.3, -2.0). A vehicle with ID 29 is 8.1 meters away at (6.3, -5.2). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.1, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.3 meters away at (-17.6, 5.2). A unknown object with ID 36 is 19.7 meters away at (-19.3, -4.1).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.0, -5.8). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 29 is 8.6 meters away at (6.7, -5.3). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.0, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.8 meters away at (-18.0, 5.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.63404083 -0.18572335] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 0.5594052  -0.16419776] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7143746   0.16294302] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 28 is 7.3 meters away at (1.7, -7.1). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 52 is 8.9 meters away at (-7.7, -4.4). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 30 is 11.0 meters away at (-6.2, -9.1). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 29 is 12.2 meters away at (10.3, -6.5). A vehicle with ID 47 is 15.4 meters away at (-15.3, -1.6). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).

The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.2583983 -1.1209555] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 1.1693914  -0.35054004] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [ 2.9617577 -0.8245069] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.5386231  -0.16406907] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00036692 0.00058819] m/s.

There are active red lights at the following coordinates: [[ 32.50565   -8.371266]
 [ 32.02337  -10.599445]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 52 is 6.6 meters away at (-3.0, -5.9). A vehicle with ID 27 is 7.4 meters away at (7.1, -1.9). A vehicle with ID 32 is 9.7 meters away at (-9.2, 3.1). A vehicle with ID 30 is 11.0 meters away at (-6.3, -9.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 47 is 13.1 meters away at (-12.9, -2.4). A vehicle with ID 28 is 14.8 meters away at (10.9, -10.0). A pedestrian with ID 11 is 18.4 meters away at (6.0, -17.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).

The vehicle with ID 52 is traveling at a (x, y) velocity of [ 3.538154  -1.1476548] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.7233184   0.20797814] m/s.The vehicle 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.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 2.210734   -0.69486344] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.6776576 -1.7797514] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00067605 -0.00124583] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00092411 -0.00245347] m/s.

There are active red lights at the following coordinates: [[ 32.50565   -8.371266]
 [ 32.02337  -10.599445]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 56 is 3.3 meters away at (-0.8, -3.2). A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 96 is 7.5 meters away at (-3.9, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.1 meters away at (-8.2, 5.8). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.6, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.3, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.3 meters away at (-4.5, 15.7).

The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.922106   1.5581981] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.00354754 0.00604974] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 56 is 6.0 meters away at (-5.9, -0.9). A vehicle with ID 96 is 7.5 meters away at (-3.8, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.2 meters away at (-8.3, 5.9). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.7, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.4, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.1 meters away at (-4.4, 15.5).

The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.616693   1.1455245] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.3322374   0.21309148] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.01148447 0.00026794] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A vehicle with ID 108 is 4.1 meters away at (3.6, 1.8). A vehicle with ID 96 is 6.4 meters away at (-2.8, 5.7). A vehicle with ID 116 is 9.7 meters away at (9.4, -2.2). A vehicle with ID 56 is 9.9 meters away at (-9.8, 0.8). A unknown object with ID 97 is 12.1 meters away at (-7.9, 9.2). A vehicle with ID 41 is 13.0 meters away at (-10.7, 7.4). A unknown object with ID 51 is 14.7 meters away at (-10.9, 9.9). A unknown object with ID 114 is 15.3 meters away at (6.8, -13.7). A unknown object with ID 113 is 15.4 meters away at (6.6, -13.9). A pedestrian with ID 117 is 15.4 meters away at (-3.5, 15.0).

The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.1939237  1.1238039] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.3053865  2.1556818] 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 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.03144797 0.01102473] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.7) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 96 is 3.7 meters away at (3.1, 2.0). A unknown object with ID 97 is 5.7 meters away at (-1.9, 5.4). A unknown object with ID 55 is 5.9 meters away at (1.2, 5.8). A unknown object with ID 51 is 7.7 meters away at (-4.8, 6.1). A vehicle with ID 56 is 7.8 meters away at (-7.7, -0.9). A vehicle with ID 108 is 9.8 meters away at (9.6, -2.1). A unknown object with ID 46 is 10.7 meters away at (-7.4, 7.8). A pedestrian with ID 117 is 11.6 meters away at (2.8, 11.2). A vehicle with ID 116 is 16.6 meters away at (15.5, -6.1). A vehicle with ID 57 is 16.8 meters away at (-16.3, 4.0).

The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.4918907   0.83470964] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [-0.00167273 -0.00392394] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.33034924  0.20554917] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.8) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A vehicle with ID 64 is 7.0 meters away at (-3.1, -6.2). A vehicle with ID 63 is 7.8 meters away at (-7.1, -3.3). A vehicle with ID 62 is 9.1 meters away at (-9.1, -0.5). A vehicle with ID 65 is 10.9 meters away at (1.4, -10.8). A vehicle with ID 60 is 11.2 meters away at (-11.1, 1.4). A vehicle with ID 66 is 13.2 meters away at (3.5, -12.8). A vehicle with ID 58 is 13.7 meters away at (-13.2, 3.6). A vehicle with ID 57 is 16.1 meters away at (-15.2, 5.4). A vehicle with ID 67 is 17.3 meters away at (7.3, -15.7). A vehicle with ID 59 is 19.9 meters away at (-18.0, 8.5).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.8) m/s. Its current heading (yaw) is -0.76

The most relevant actors are: A vehicle with ID 66 is 6.9 meters away at (-4.6, -5.1). A vehicle with ID 65 is 7.3 meters away at (-6.6, -3.1). A vehicle with ID 67 is 8.1 meters away at (-0.8, -8.0). A vehicle with ID 64 is 11.3 meters away at (-11.2, 1.4). A vehicle with ID 3 is 13.8 meters away at (3.5, -13.3). A vehicle with ID 63 is 15.9 meters away at (-15.2, 4.4). A vehicle with ID 62 is 18.7 meters away at (-17.2, 7.2). A vehicle with ID 47 is 20.9 meters away at (18.9, -8.9). A vehicle with ID 68 is 21.2 meters away at (-5.1, -20.6). A vehicle with ID 60 is 21.4 meters away at (-19.4, 9.0).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.2479997 -8.170432 ] m/s.The vehicle with ID 68 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.3) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-3.9, -5.1). A vehicle with ID 66 is 8.0 meters away at (-7.7, -2.1). A vehicle with ID 65 is 9.8 meters away at (-9.8, -0.1). A vehicle with ID 3 is 10.5 meters away at (0.2, -10.5). A vehicle with ID 64 is 15.0 meters away at (-14.3, 4.4). A vehicle with ID 68 is 19.5 meters away at (-8.3, -17.6). A vehicle with ID 63 is 19.9 meters away at (-18.5, 7.4). A vehicle with ID 47 is 22.6 meters away at (0.8, -22.6). A vehicle with ID 62 is 22.8 meters away at (-20.4, 10.2). A vehicle with ID 60 is 25.5 meters away at (-22.5, 12.0).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.482401 -8.07728 ] m/s.The vehicle with ID 62 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 67 is 6.3 meters away at (-4.3, -4.7). A vehicle with ID 66 is 8.3 meters away at (-8.1, -1.7). A vehicle with ID 3 is 10.1 meters away at (-0.1, -10.1). A vehicle with ID 65 is 10.3 meters away at (-10.3, 0.3). A vehicle with ID 64 is 15.6 meters away at (-14.9, 4.8). A vehicle with ID 68 is 19.3 meters away at (-8.8, -17.2). A vehicle with ID 63 is 20.4 meters away at (-18.8, 7.8). A vehicle with ID 62 is 23.4 meters away at (-20.9, 10.6). A vehicle with ID 60 is 26.1 meters away at (-23.0, 12.4). A vehicle with ID 58 is 28.9 meters away at (-24.9, 14.6).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 19 is 16.1 meters away at (-0.6, 16.0). A pedestrian with ID 21 is 19.5 meters away at (12.5, -15.0). A pedestrian with ID 22 is 32.4 meters away at (-8.8, 31.1). A pedestrian with ID 9 is 43.7 meters away at (-43.7, 2.3). A pedestrian with ID 13 is 44.4 meters away at (-44.4, 2.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [2.9305444 5.17777  ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2874413   0.21487686] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03714642 -0.05467592] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.71108526 -1.4041059 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.7148281 -1.2698064] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 1.9) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A pedestrian with ID 21 is 24.2 meters away at (17.1, -17.1). A vehicle with ID 19 is 24.4 meters away at (11.3, 21.6). A pedestrian with ID 22 is 28.9 meters away at (-3.2, 28.8). A pedestrian with ID 9 is 39.6 meters away at (-39.5, -3.5). A vehicle with ID 12 is 39.8 meters away at (-0.6, 39.8). A pedestrian with ID 13 is 40.6 meters away at (-40.4, -3.2).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.70367473  0.35449296] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.8851705 2.5768104] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.14876182  0.42599735] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.70168686 -1.3201172 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.6802933 -0.989611 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.74554175 -1.2720289 ] 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, 1.6) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A pedestrian with ID 22 is 26.6 meters away at (4.9, 26.2). A pedestrian with ID 21 is 32.0 meters away at (24.8, -20.3). A vehicle with ID 19 is 33.9 meters away at (28.6, 18.1). A pedestrian with ID 9 is 33.9 meters away at (-32.3, -10.2). A vehicle with ID 12 is 35.5 meters away at (13.3, 32.9).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.38107303  0.61777073] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22593783  0.10099088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.0823092 -1.9765947] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.57581186 -1.5585096 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.4513016 -2.3499198] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -0.2) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A pedestrian with ID 9 is 28.2 meters away at (-23.8, -15.1). A vehicle with ID 12 is 38.1 meters away at (28.2, 25.7). A pedestrian with ID 21 is 40.5 meters away at (34.2, -21.7). A vehicle with ID 19 is 51.8 meters away at (50.8, 10.3). A vehicle with ID 15 is 67.1 meters away at (-32.8, -58.5). A vehicle with ID 1 is 68.9 meters away at (-42.2, -54.5). A vehicle with ID 3 is 69.5 meters away at (-44.5, -53.4). A vehicle with ID 5 is 73.7 meters away at (-29.9, -67.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.75592947 -1.5515963 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.0910504 -3.1889465] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.43511552  0.25357088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.1913104 -4.021377 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.0919502 -6.8558645] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.6) m/s. Its current heading (yaw) is -2.42

The most relevant actors are: A unknown object with ID 29 is 25.2 meters away at (-3.0, 25.0). A unknown object with ID 27 is 29.8 meters away at (14.4, 26.0). A unknown object with ID 28 is 29.9 meters away at (12.9, 27.0). A unknown object with ID 35 is 32.9 meters away at (-10.4, 31.3). A unknown object with ID 31 is 33.1 meters away at (19.9, 26.5). A unknown object with ID 20 is 33.2 meters away at (18.9, 27.3). A unknown object with ID 32 is 34.0 meters away at (5.2, 33.6). A unknown object with ID 33 is 35.2 meters away at (34.5, 6.9). A unknown object with ID 34 is 36.3 meters away at (35.4, 8.1). A vehicle with ID 45 is 38.2 meters away at (-17.6, -33.9).

The unknown object with ID 29 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 28 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 31 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 32 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.9973578 25.010813 ], 25.189777374267578 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -2.8) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A unknown object with ID 4 is 25.5 meters away at (-4.3, -25.1). A vehicle with ID 45 is 29.4 meters away at (-10.9, -27.4). A unknown object with ID 29 is 31.8 meters away at (3.8, 31.6). A vehicle with ID 50 is 36.4 meters away at (-15.7, -32.8). A unknown object with ID 28 is 38.9 meters away at (19.7, 33.5). A unknown object with ID 27 is 38.9 meters away at (21.2, 32.6). A unknown object with ID 32 is 41.9 meters away at (11.9, 40.1). A unknown object with ID 20 is 42.4 meters away at (25.5, 33.9). A unknown object with ID 33 is 43.4 meters away at (41.3, 13.3). A unknown object with ID 13 is 44.6 meters away at (-20.0, -39.9).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 unknown object with ID 28 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 32 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 33 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -4.264756 -25.13752 ], 25.496726989746094 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.8) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A unknown object with ID 4 is 21.6 meters away at (-0.9, -21.5). A vehicle with ID 45 is 24.9 meters away at (-7.6, -23.7). A vehicle with ID 50 is 31.7 meters away at (-12.4, -29.1). A unknown object with ID 29 is 35.9 meters away at (6.9, 35.3). A unknown object with ID 18 is 38.7 meters away at (-26.2, 28.5). A unknown object with ID 28 is 43.7 meters away at (22.9, 37.2). A unknown object with ID 27 is 43.7 meters away at (24.4, 36.2). A unknown object with ID 20 is 47.1 meters away at (28.9, 37.2). A unknown object with ID 36 is 49.5 meters away at (9.4, 48.6). A pedestrian with ID 15 is 58.9 meters away at (-40.7, -42.6).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 18 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 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00235072 -0.00737111] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 45 is 24.5 meters away at (-7.3, -23.4). A vehicle with ID 50 is 31.3 meters away at (-12.1, -28.8). A unknown object with ID 18 is 38.8 meters away at (-25.9, 28.9). A unknown object with ID 28 is 44.1 meters away at (23.1, 37.5). A unknown object with ID 6 is 44.2 meters away at (23.9, 37.2). A unknown object with ID 10 is 53.6 meters away at (42.1, 33.2). A vehicle with ID 37 is 60.6 meters away at (-31.4, -51.8). A vehicle with ID 39 is 61.7 meters away at (-40.3, -46.7). A vehicle with ID 23 is 64.2 meters away at (-18.0, 61.6). A vehicle with ID 21 is 72.3 meters away at (-48.6, -53.5).

The vehicle with ID 45 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 unknown object with ID 18 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 6 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.3600297 -6.0288644] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.5) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A unknown object with ID 48 is 18.6 meters away at (18.6, -0.6). A unknown object with ID 49 is 21.2 meters away at (21.2, -0.8). A unknown object with ID 51 is 22.6 meters away at (22.6, -1.0). A unknown object with ID 52 is 23.1 meters away at (23.0, -1.4). A unknown object with ID 50 is 23.4 meters away at (23.1, -4.2). A unknown object with ID 37 is 24.3 meters away at (23.7, -5.2). A unknown object with ID 29 is 65.1 meters away at (10.2, -64.3). A unknown object with ID 54 is 66.9 meters away at (11.4, -65.9). A unknown object with ID 46 is 67.3 meters away at (-2.8, 67.2). A unknown object with ID 4 is 69.5 meters away at (-2.3, 69.4).

The unknown object with ID 48 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 [18.596329  -0.5977583], 18.605934143066406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.4) m/s. Its current heading (yaw) is 1.54

The most relevant actors are: A pedestrian with ID 38 is 12.7 meters away at (-10.5, -7.1). A unknown object with ID 48 is 20.8 meters away at (18.7, -9.1). A unknown object with ID 33 is 21.9 meters away at (19.9, -9.2). A unknown object with ID 49 is 23.3 meters away at (21.3, -9.3). A unknown object with ID 4 is 60.9 meters away at (-2.1, 60.8). A unknown object with ID 3 is 63.0 meters away at (-1.5, 63.0). A unknown object with ID 2 is 65.5 meters away at (-1.0, 65.5). A vehicle with ID 36 is 73.2 meters away at (-69.6, -22.9).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.0395584 -0.7431007] m/s.The unknown object with ID 48 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 49 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 (0.6, 5.4) m/s. Its current heading (yaw) is 1.47

The most relevant actors are: A pedestrian with ID 38 is 19.7 meters away at (-9.3, -17.4). A unknown object with ID 31 is 30.0 meters away at (-4.5, -29.7). A unknown object with ID 4 is 51.1 meters away at (-2.9, 51.0). A unknown object with ID 3 is 53.2 meters away at (-2.3, 53.2). A unknown object with ID 2 is 55.7 meters away at (-1.7, 55.7). A unknown object with ID 27 is 57.3 meters away at (19.6, -53.9). A vehicle with ID 32 is 68.4 meters away at (-1.4, 68.4). A unknown object with ID 45 is 74.2 meters away at (33.1, 66.4). A vehicle with ID 23 is 74.4 meters away at (-61.4, 42.1).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9570943  -0.24224915] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 3.0586383  -0.32415563] m/s.The unknown object with ID 45 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 5.9) m/s. Its current heading (yaw) is 1.40

The most relevant actors are: A pedestrian with ID 38 is 31.6 meters away at (-9.4, -30.2). A unknown object with ID 26 is 37.8 meters away at (2.2, -37.7). A unknown object with ID 4 is 40.1 meters away at (-4.3, 39.8). A unknown object with ID 3 is 42.2 meters away at (-3.7, 42.0). A unknown object with ID 41 is 43.3 meters away at (15.9, 40.3). A unknown object with ID 2 is 44.6 meters away at (-3.2, 44.5). A vehicle with ID 32 is 56.6 meters away at (4.0, 56.5). A unknown object with ID 43 is 57.1 meters away at (-3.9, 57.0). A vehicle with ID 7 is 59.1 meters away at (-12.6, 57.7). A unknown object with ID 45 is 63.6 meters away at (31.2, 55.4).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.486323  -1.1452012] 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 3.342264   -0.37375543] m/s.The unknown object with ID 43 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 [ 1.6078188  -0.23675573] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.6) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 37 is 8.5 meters away at (-8.1, -2.4). A vehicle with ID 34 is 11.5 meters away at (3.0, -11.1). A vehicle with ID 40 is 43.6 meters away at (12.5, -41.8). A vehicle with ID 43 is 45.9 meters away at (-6.7, -45.4). A vehicle with ID 42 is 46.4 meters away at (4.9, -46.1). A vehicle with ID 47 is 47.3 meters away at (-20.4, -42.7). A vehicle with ID 44 is 49.2 meters away at (-14.2, -47.1). A unknown object with ID 39 is 49.3 meters away at (24.8, -42.6). A vehicle with ID 36 is 49.5 meters away at (32.3, -37.6). A vehicle with ID 46 is 50.0 meters away at (-19.2, -46.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.41828  -2.544068] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.3891115 -0.9385436] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [4.3786016 3.1382422] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 4.7120914  -0.64815336] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [5.424819  1.6215552] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 4.2539725 -0.7004402] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.412369  -1.9649512] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 5.8) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 33 is 19.3 meters away at (-6.8, 18.0). A vehicle with ID 37 is 20.8 meters away at (11.2, -17.5). A vehicle with ID 34 is 30.2 meters away at (18.9, -23.5). A vehicle with ID 47 is 55.8 meters away at (3.7, -55.7). A vehicle with ID 31 is 56.2 meters away at (-38.6, -40.9). A vehicle with ID 43 is 59.6 meters away at (18.5, -56.6). A vehicle with ID 42 is 59.7 meters away at (29.0, -52.2). A vehicle with ID 40 is 60.3 meters away at (36.4, -48.1). A vehicle with ID 13 is 60.9 meters away at (-33.0, -51.2). A vehicle with ID 2 is 60.9 meters away at (-41.5, 44.7).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.753305  -1.1479566] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.48687676 -0.11891893] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 5.7497387  -0.72440666] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [6.026208  1.6061528] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [4.558573  3.0596583] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [5.870876  1.2580466] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.3027633  -0.02956251] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.8377132 18.03006  ], 19.2830867767334 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.7) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 37 is 40.6 meters away at (27.2, -30.2). A vehicle with ID 2 is 43.6 meters away at (-27.6, 33.7). A pedestrian with ID 3 is 45.9 meters away at (-30.8, 34.0). A vehicle with ID 34 is 48.3 meters away at (33.4, -34.9). A vehicle with ID 31 is 57.5 meters away at (-24.7, -52.0). A vehicle with ID 32 is 62.0 meters away at (-37.2, -49.6). A vehicle with ID 17 is 64.5 meters away at (-42.6, -48.4). A vehicle with ID 13 is 65.0 meters away at (-19.0, -62.2). A vehicle with ID 43 is 75.8 meters away at (43.1, -62.4).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.5208345 -0.1328706] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2309695  -0.93931895] m/s.The vehicle with ID 34 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 [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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [4.9035387 3.420008 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 3 is 25.9 meters away at (-15.0, 21.2). A vehicle with ID 2 is 26.7 meters away at (-14.0, 22.7). A vehicle with ID 37 is 58.1 meters away at (40.9, -41.2). A vehicle with ID 31 is 63.9 meters away at (-11.2, -62.9). A vehicle with ID 34 is 65.6 meters away at (47.0, -45.8). A vehicle with ID 13 is 73.5 meters away at (-5.6, -73.3).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.08081    -0.75515187] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.1) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A unknown object with ID 17 is 7.1 meters away at (6.7, -2.2). A vehicle with ID 16 is 20.3 meters away at (-19.0, 7.3). A pedestrian with ID 3 is 23.3 meters away at (-18.9, -13.6). A vehicle with ID 18 is 26.4 meters away at (-23.7, 11.6). A vehicle with ID 21 is 27.5 meters away at (-20.2, 18.6). A vehicle with ID 19 is 32.0 meters away at (-27.0, 17.2). A vehicle with ID 23 is 42.5 meters away at (-36.7, 21.4). A vehicle with ID 24 is 48.0 meters away at (-40.6, 25.5).

The unknown object with ID 17 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 3 is traveling at a (x, y) velocity of [-0.00197642 -0.00546508] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.345355  -1.1229758] m/s.The vehicle 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 6.7443004 -2.2046924], 7.0955095291137695 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -3.9) m/s. Its current heading (yaw) is -1.26

The most relevant actors are: A unknown object with ID 17 is 5.1 meters away at (1.9, 4.7). A pedestrian with ID 3 is 24.7 meters away at (-23.8, -6.7). A vehicle with ID 16 is 27.8 meters away at (-23.9, 14.3). A unknown object with ID 7 is 27.8 meters away at (-13.3, -24.5). A unknown object with ID 14 is 30.0 meters away at (3.8, -29.8). A unknown object with ID 9 is 30.9 meters away at (3.6, -30.7). A vehicle with ID 18 is 34.2 meters away at (-28.7, 18.6). A vehicle with ID 21 is 35.8 meters away at (-25.1, 25.5). A vehicle with ID 19 is 40.3 meters away at (-32.6, 23.8). A pedestrian with ID 12 is 48.0 meters away at (16.7, -45.0).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00202849 -0.00313176] m/s.The vehicle with ID 16 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 14 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0054936  -0.00581418] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.8763561 4.698226 ], 5.059055328369141 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.5) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A pedestrian with ID 8 is 12.3 meters away at (-10.0, -7.2). A unknown object with ID 17 is 12.4 meters away at (1.8, 12.3). A unknown object with ID 14 is 22.5 meters away at (3.8, -22.2). A unknown object with ID 9 is 22.9 meters away at (3.6, -22.6). A pedestrian with ID 3 is 23.9 meters away at (-23.9, 0.9). A vehicle with ID 16 is 32.4 meters away at (-24.0, 21.8). A vehicle with ID 18 is 38.9 meters away at (-28.9, 26.0). A vehicle with ID 21 is 41.6 meters away at (-25.3, 33.1). A vehicle with ID 19 is 45.2 meters away at (-31.8, 32.1). A vehicle with ID 23 is 55.1 meters away at (-41.7, 36.0).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02526096 -0.00189482] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.01432491  0.00145851] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.1) m/s. Its current heading (yaw) is -2.22

The most relevant actors are: A unknown object with ID 11 is 3.2 meters away at (2.6, -1.8). A unknown object with ID 1 is 15.3 meters away at (-10.5, -11.1). A unknown object with ID 14 is 17.8 meters away at (6.9, -16.5). A unknown object with ID 17 is 18.6 meters away at (4.8, 17.9). A pedestrian with ID 3 is 21.9 meters away at (-20.9, 6.6). A vehicle with ID 16 is 34.6 meters away at (-20.9, 27.5). A vehicle with ID 18 is 41.0 meters away at (-25.9, 31.8). A vehicle with ID 21 is 44.7 meters away at (-22.2, 38.8).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.03016418 0.00774155] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.5865545 -1.846981 ], 3.178302049636841 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -6.0) m/s. Its current heading (yaw) is -1.18

The most relevant actors are: A unknown object with ID 6 is 25.2 meters away at (13.1, -21.5). A unknown object with ID 9 is 33.7 meters away at (-20.6, 26.6). A unknown object with ID 10 is 33.9 meters away at (-20.7, 26.8). A unknown object with ID 13 is 36.1 meters away at (29.5, -20.9). A vehicle with ID 12 is 63.0 meters away at (-13.4, 61.6).

The unknown object with ID 6 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.01271634  8.620718  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.9) m/s. Its current heading (yaw) is -1.16

The most relevant actors are: A unknown object with ID 8 is 63.4 meters away at (-21.3, 59.7).

The unknown object with ID 8 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 [-21.316982  59.685844], 63.37833786010742 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -6.6) m/s. Its current heading (yaw) is -1.16

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -6.2) m/s. Its current heading (yaw) is -1.11

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -4.2) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A vehicle with ID 105 is 11.1 meters away at (-10.8, -2.6). A cyclist with ID 1 is 14.1 meters away at (-12.7, 6.1). A pedestrian with ID 77 is 16.5 meters away at (-1.6, 16.5). A pedestrian with ID 76 is 17.3 meters away at (-0.8, 17.3). A pedestrian with ID 41 is 18.2 meters away at (-1.2, 18.2). A vehicle with ID 104 is 22.8 meters away at (-22.6, 2.9). A pedestrian with ID 123 is 28.7 meters away at (27.2, 9.3). A vehicle with ID 108 is 30.2 meters away at (-29.3, -7.1). A pedestrian with ID 106 is 31.3 meters away at (-25.8, 17.6). A pedestrian with ID 107 is 31.4 meters away at (-25.5, 18.4).

The vehicle with ID 105 is traveling at a (x, y) velocity of [-1.265359   0.5849419] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.805156  -3.1490657] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.88639116 -0.38630152] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7854836  -0.49454132] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7539093 -0.5779183] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.3333673   0.21224831] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-2.5101297 -1.0187179] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.37863    -0.42271596] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.3409873  -0.45123035] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.3, -4.3) m/s. Its current heading (yaw) is -0.44

The most relevant actors are: A cyclist with ID 1 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 97 is 16.9 meters away at (16.4, 4.0). A pedestrian with ID 123 is 19.0 meters away at (6.4, 17.9). A vehicle with ID 105 is 30.8 meters away at (-30.1, 6.6). A pedestrian with ID 76 is 32.2 meters away at (-20.2, 25.0). A pedestrian with ID 77 is 32.2 meters away at (-21.1, 24.3). A pedestrian with ID 41 is 32.9 meters away at (-20.6, 25.6). A vehicle with ID 11 is 35.2 meters away at (-32.0, 14.6). A vehicle with ID 104 is 42.3 meters away at (-40.7, 11.6). A pedestrian with ID 106 is 48.3 meters away at (-41.2, 25.3).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 8.883005  -3.8947523] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.413494   -0.05732197] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.8909778 -0.5125055] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.809211 -0.596144] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.846551  -0.5869032] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.190696 -5.037233] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.1838344  -0.45741168] m/s.

There are active red lights at the following coordinates: [[ -9.954686  -4.176372]
 [-10.002341  -4.276473]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -4.2) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 13 is 11.6 meters away at (0.8, 11.6). A unknown object with ID 97 is 12.7 meters away at (-2.2, 12.5). A cyclist with ID 1 is 15.8 meters away at (-13.7, 7.8). A pedestrian with ID 86 is 25.7 meters away at (11.2, 23.1). A vehicle with ID 11 is 33.8 meters away at (-30.9, 13.5). A unknown object with ID 25 is 34.7 meters away at (33.4, -9.3). A unknown object with ID 23 is 36.6 meters away at (35.1, -10.4). A unknown object with ID 28 is 38.8 meters away at (36.9, -11.7). A unknown object with ID 69 is 40.7 meters away at (38.6, -12.8). A unknown object with ID 46 is 43.2 meters away at (40.8, -14.2).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 9.445948 -4.06313 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1611274   0.25523433] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 9.648208  -4.4741697] 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 23 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -9.954686  -4.176372]
 [-10.002341  -4.276473]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 0.81098557 11.608802  ], 11.63709545135498 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -4.1) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A unknown object with ID 25 is 14.3 meters away at (14.2, -0.9). A cyclist with ID 1 is 15.1 meters away at (-12.9, 7.8). A unknown object with ID 23 is 16.0 meters away at (15.9, -1.9). A unknown object with ID 28 is 18.1 meters away at (17.8, -3.2). A unknown object with ID 69 is 19.9 meters away at (19.4, -4.4). A unknown object with ID 46 is 22.3 meters away at (21.6, -5.8). A unknown object with ID 52 is 24.7 meters away at (23.7, -7.1). A unknown object with ID 40 is 25.6 meters away at (25.6, -0.1). A unknown object with ID 73 is 26.7 meters away at (25.5, -8.0). A unknown object with ID 13 is 27.2 meters away at (-18.4, 20.1).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [10.262714 -4.076687] 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 3.8) m/s. Its current heading (yaw) is 0.52

The most relevant actors are: A vehicle with ID 94 is 7.4 meters away at (1.3, -7.3). A vehicle with ID 83 is 7.7 meters away at (6.7, -3.8). A pedestrian with ID 92 is 10.5 meters away at (-3.6, -9.9). A pedestrian with ID 89 is 11.9 meters away at (-2.5, -11.6). A pedestrian with ID 85 is 13.4 meters away at (12.5, -4.8). A vehicle with ID 86 is 14.4 meters away at (-9.6, -10.7). A pedestrian with ID 98 is 14.6 meters away at (14.5, -1.9). A pedestrian with ID 53 is 15.7 meters away at (-4.1, -15.1). A pedestrian with ID 91 is 16.3 meters away at (-6.6, -14.9). A pedestrian with ID 99 is 16.5 meters away at (12.4, -10.8).

The vehicle with ID 94 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 pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.77667964 -0.8818316 ] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.7117176  0.18243034] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.06961603  0.02180793] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.2631482 -0.883366 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.10750394 -0.03187883] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1348933  -0.49857262] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [0.01346375 0.0482382 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 3.7) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A pedestrian with ID 97 is 8.7 meters away at (3.9, -7.7). A pedestrian with ID 95 is 8.7 meters away at (7.2, -4.8). A pedestrian with ID 96 is 9.6 meters away at (4.4, -8.5). A pedestrian with ID 30 is 9.8 meters away at (7.9, -5.8). A pedestrian with ID 98 is 10.9 meters away at (-0.3, -10.9). A pedestrian with ID 85 is 12.2 meters away at (0.1, -12.2). A vehicle with ID 83 is 12.4 meters away at (-5.5, -11.1). A pedestrian with ID 99 is 18.2 meters away at (0.0, -18.2). A vehicle with ID 94 is 18.3 meters away at (-11.0, -14.6). A pedestrian with ID 89 is 23.5 meters away at (-13.5, -19.2).

The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.0246298 -0.8193772] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0225383  -0.93166906] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.9543069 -0.764303 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0644251 -0.8470556] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.244516   -0.67972136] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.00197747  0.0049649 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.00322034  0.00632284] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.898167   -0.07979911] m/s.

Instruction: Slight right turn approaching.