The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 28 is 10.7 meters away at (-10.2, -3.3). A vehicle with ID 27 is 11.0 meters away at (-1.9, -10.8). A vehicle with ID 33 is 16.4 meters away at (-16.3, 1.9). A vehicle with ID 3 is 24.1 meters away at (-22.9, 7.3). A vehicle with ID 31 is 25.1 meters away at (23.6, -8.4). A vehicle with ID 25 is 25.4 meters away at (24.9, 5.2). A vehicle with ID 1 is 35.9 meters away at (-32.5, 15.2). A vehicle with ID 35 is 36.2 meters away at (4.7, -35.9). A vehicle with ID 34 is 38.9 meters away at (20.0, -33.4). A unknown object with ID 32 is 44.1 meters away at (16.7, -40.8).

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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8971067  -0.76172423] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.217409  7.7044826] m/s.The vehicle with ID 25 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 [ 2.9159443 -2.4564908] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [4.9505424 2.8336437] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.234462  -2.7073057] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.3) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A unknown object with ID 35 is 8.3 meters away at (5.9, -5.9). A unknown object with ID 36 is 9.6 meters away at (5.5, -7.9). A pedestrian with ID 34 is 23.6 meters away at (-22.6, -6.6). A vehicle with ID 11 is 41.7 meters away at (-20.5, -36.3). A vehicle with ID 13 is 63.2 meters away at (-28.9, -56.2). A pedestrian with ID 29 is 63.7 meters away at (-16.1, -61.6). A vehicle with ID 38 is 70.3 meters away at (-6.3, 70.0). A vehicle with ID 26 is 76.1 meters away at (-42.6, -63.1).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3983802 -0.5710836] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.0284345 -4.737557 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.0415702 -2.5823357] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00475296 0.00292052] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.7519817 -4.1850047] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.6737885 5.181102 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 5.9030046 -5.859337 ], 8.317288398742676 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -6.3) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A pedestrian with ID 20 is 7.0 meters away at (5.6, -4.1). A unknown object with ID 24 is 10.2 meters away at (0.2, -10.2). A unknown object with ID 36 is 10.3 meters away at (9.3, 4.5). A unknown object with ID 35 is 11.7 meters away at (9.7, 6.5). A pedestrian with ID 34 is 17.6 meters away at (-16.8, 5.4). A vehicle with ID 11 is 37.9 meters away at (-20.2, -32.1). A vehicle with ID 26 is 47.0 meters away at (-29.6, -36.5). A pedestrian with ID 29 is 50.6 meters away at (-12.1, -49.2). A vehicle with ID 13 is 54.7 meters away at (-26.7, -47.7). A vehicle with ID 1 is 66.4 meters away at (-31.1, -58.7).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1223631  -0.57020044] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.8726357  0.01768823] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.5078424 -3.5850263] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [3.7528534 8.929224 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.0183533   0.01701287] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.5451488 -1.5667986] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.1) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 26 is 18.0 meters away at (-17.5, -4.1). A pedestrian with ID 34 is 21.4 meters away at (-11.7, 17.9). A vehicle with ID 11 is 31.6 meters away at (-18.6, -25.5). A pedestrian with ID 29 is 37.5 meters away at (-8.0, -36.6). A vehicle with ID 13 is 44.0 meters away at (-23.5, -37.3). A vehicle with ID 1 is 53.4 meters away at (-27.0, -46.1). A vehicle with ID 21 is 67.8 meters away at (-48.4, -47.5). A vehicle with ID 2 is 78.4 meters away at (-16.1, -76.8). A vehicle with ID 17 is 80.9 meters away at (-5.0, 80.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.4285336 10.839895 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.31862888 -0.22793984] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.0490717 -2.4772508] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01133702 -0.01110248] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.3959985 -0.937758 ] m/s.The vehicle with ID 1 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 2 is traveling at a (x, y) velocity of [-1.0191102   0.45742077] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.8) m/s. Its current heading (yaw) is -1.95

The most relevant actors are: A vehicle with ID 11 is 23.3 meters away at (-15.6, -17.3). A pedestrian with ID 29 is 25.0 meters away at (-3.4, -24.8). A pedestrian with ID 34 is 30.0 meters away at (-7.0, 29.2). A vehicle with ID 26 is 30.9 meters away at (-3.6, 30.7). A unknown object with ID 23 is 32.6 meters away at (-5.1, 32.2). A vehicle with ID 13 is 33.0 meters away at (-19.5, -26.7). A pedestrian with ID 12 is 40.7 meters away at (-19.2, 35.9). A vehicle with ID 1 is 40.9 meters away at (-22.4, -34.2). A unknown object with ID 25 is 43.2 meters away at (-5.2, -42.9). A vehicle with ID 21 is 56.5 meters away at (-43.8, -35.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.51724625 -1.2351786 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03458041 -0.00864847] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.2281023  -0.18732634] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.7727227 12.271964 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.86996734 -1.1197566 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 (-6.4, 7.9) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A pedestrian with ID 118 is 9.1 meters away at (9.1, 0.2). A pedestrian with ID 114 is 12.0 meters away at (11.2, -4.5). A vehicle with ID 121 is 12.7 meters away at (-9.8, -8.1). A vehicle with ID 125 is 13.9 meters away at (-13.9, 0.0). A vehicle with ID 123 is 15.4 meters away at (-13.6, -7.2). A vehicle with ID 35 is 16.3 meters away at (12.0, -11.1). A pedestrian with ID 111 is 18.2 meters away at (16.4, -7.8). A unknown object with ID 112 is 18.7 meters away at (8.5, -16.7). A unknown object with ID 109 is 19.7 meters away at (16.8, -10.2). A vehicle with ID 122 is 20.3 meters away at (-13.7, -15.0).

The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.79919   -0.8725981] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-0.00562077 -0.00153258] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 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 [-7.2744226  5.8565817] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-1.1644956  0.8425164] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 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 (-6.0, 8.1) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A pedestrian with ID 108 is 13.6 meters away at (-7.0, -11.7). A pedestrian with ID 50 is 13.7 meters away at (-8.0, -11.1). A pedestrian with ID 70 is 15.1 meters away at (-7.2, -13.2). A pedestrian with ID 85 is 15.4 meters away at (-5.9, -14.2). A pedestrian with ID 66 is 15.5 meters away at (-8.9, -12.7). A vehicle with ID 57 is 15.7 meters away at (-6.5, 14.3). A vehicle with ID 125 is 16.1 meters away at (-1.9, -16.0). A pedestrian with ID 56 is 16.3 meters away at (-6.1, -15.1). A pedestrian with ID 72 is 16.4 meters away at (-6.7, -15.0). A vehicle with ID 35 is 16.7 meters away at (9.9, -13.5).

The pedestrian with ID 108 is traveling at a (x, y) velocity of [0.00755055 0.02140794] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.0142485  -0.00347374] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02100694  0.00440418] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.04317671  0.01453341] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.00822385  0.00485077] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.03328926  0.00481155] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.04367054 -0.02575718] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.5167446  8.2209215] m/s.

There are active red lights at the following coordinates: [[-25.895496    1.7095389]
 [-25.425858    1.3974351]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 8.3) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 57 is 5.9 meters away at (5.5, -2.0). A vehicle with ID 94 is 11.3 meters away at (-3.8, 10.6). A vehicle with ID 35 is 13.9 meters away at (7.5, -11.6). A vehicle with ID 89 is 16.6 meters away at (-7.0, 15.0). A vehicle with ID 68 is 22.0 meters away at (-10.5, 19.3). A pedestrian with ID 84 is 25.0 meters away at (-7.0, 24.0). A pedestrian with ID 50 is 27.7 meters away at (4.0, -27.4). A vehicle with ID 105 is 28.3 meters away at (-14.0, 24.6). A pedestrian with ID 108 is 28.5 meters away at (4.9, -28.1). A unknown object with ID 64 is 29.0 meters away at (-9.1, -27.5).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-6.297139  8.976777] m/s.The vehicle with ID 89 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 pedestrian with ID 84 is traveling at a (x, y) velocity of [ 2.3168919e-03 -3.6619625e-05] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.05036084 0.02074946] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.01452361  0.00339613] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-25.895496    1.7095389]
 [-25.425858    1.3974351]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 7.9) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A vehicle with ID 68 is 3.5 meters away at (1.2, 3.3). A vehicle with ID 89 is 4.7 meters away at (4.6, -1.0). A vehicle with ID 105 is 8.9 meters away at (-2.3, 8.6). A vehicle with ID 94 is 9.4 meters away at (7.7, -5.3). A vehicle with ID 35 is 13.7 meters away at (7.6, -11.4). A vehicle with ID 103 is 14.2 meters away at (-2.6, -14.0). A vehicle with ID 76 is 15.6 meters away at (-6.3, 14.3). A vehicle with ID 100 is 22.6 meters away at (-10.7, 19.9). A vehicle with ID 57 is 24.9 meters away at (17.1, -18.1). A vehicle with ID 44 is 28.4 meters away at (-14.2, 24.6).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.4947414  7.55582  ] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [ 6.200337  -8.6569395] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 8.3) m/s. Its current heading (yaw) is 1.87

The most relevant actors are: A unknown object with ID 7 is 7.4 meters away at (7.4, -0.5). A vehicle with ID 29 is 51.7 meters away at (33.8, -39.2).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 7.369705   -0.49663162], 7.386419773101807 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 8.9) m/s. Its current heading (yaw) is 1.71

The most relevant actors are: A pedestrian with ID 15 is 15.9 meters away at (-15.6, -2.9). A unknown object with ID 18 is 46.5 meters away at (4.5, 46.2). A vehicle with ID 29 is 67.8 meters away at (37.9, -56.2).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.03599352  0.04894843] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 9.2) m/s. Its current heading (yaw) is 1.63

The most relevant actors are: A vehicle with ID 23 is 73.8 meters away at (9.0, -73.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [2.6523862 3.4715335] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 9.0) m/s. Its current heading (yaw) is 1.53

The most relevant actors are: A unknown object with ID 1 is 75.7 meters away at (1.6, 75.7).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.6485806 75.650856 ], 75.66881561279297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.7) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 29 is 14.7 meters away at (-10.7, 10.0). A vehicle with ID 9 is 24.2 meters away at (-18.1, 16.0). A vehicle with ID 8 is 33.8 meters away at (-23.8, 24.1). A unknown object with ID 30 is 38.8 meters away at (-32.6, -21.0). A unknown object with ID 19 is 44.7 meters away at (-44.7, -0.1). A vehicle with ID 31 is 57.8 meters away at (57.5, -5.8). A unknown object with ID 20 is 72.1 meters away at (-53.9, -47.9). A pedestrian with ID 34 is 74.3 meters away at (53.3, -51.8). A pedestrian with ID 35 is 74.5 meters away at (52.8, -52.5). A vehicle with ID 33 is 78.0 meters away at (31.7, -71.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.5365108  1.4875413] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3167759   0.84598714] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.3410765  0.848443 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.3380666 -4.4850364] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.3) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A vehicle with ID 29 is 9.9 meters away at (-6.1, 7.7). A vehicle with ID 9 is 17.0 meters away at (-11.9, 12.2). A vehicle with ID 8 is 26.9 meters away at (-17.6, 20.4). A unknown object with ID 21 is 49.6 meters away at (14.5, -47.4). A vehicle with ID 13 is 63.3 meters away at (9.1, -62.6). A vehicle with ID 31 is 64.3 meters away at (63.5, -9.7). A pedestrian with ID 34 is 78.4 meters away at (57.1, -53.8). A pedestrian with ID 35 is 78.5 meters away at (56.5, -54.5).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.219569    0.85264885] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2009236  0.8148311] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.9) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A vehicle with ID 29 is 3.9 meters away at (3.5, 1.8). A vehicle with ID 9 is 6.5 meters away at (-2.2, 6.1). A vehicle with ID 8 is 16.4 meters away at (-8.1, 14.3). A vehicle with ID 3 is 64.7 meters away at (-44.7, 46.8). A vehicle with ID 31 is 74.9 meters away at (73.3, -15.5).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 5.3) m/s. Its current heading (yaw) is 2.30

The most relevant actors are: A vehicle with ID 8 is 5.5 meters away at (2.0, 5.1). A vehicle with ID 9 is 8.4 meters away at (7.9, -2.9). A vehicle with ID 29 is 15.5 meters away at (13.6, -7.4). A vehicle with ID 15 is 41.0 meters away at (-20.3, 35.7). A vehicle with ID 3 is 51.0 meters away at (-34.5, 37.5). A unknown object with ID 25 is 58.7 meters away at (-41.9, 41.2). A vehicle with ID 4 is 71.5 meters away at (-50.8, 50.3). A cyclist with ID 16 is 74.2 meters away at (-69.1, 27.1). A pedestrian with ID 5 is 74.2 meters away at (-69.1, 27.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 2.8178678 -2.465047 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 2.8909113 -2.388315 ] 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, -2.2) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A vehicle with ID 10 is 32.4 meters away at (31.6, -7.3). A vehicle with ID 11 is 32.7 meters away at (31.8, -7.3). A vehicle with ID 12 is 40.1 meters away at (2.1, 40.1). A vehicle with ID 13 is 42.1 meters away at (35.7, -22.3). A pedestrian with ID 14 is 74.6 meters away at (67.6, -31.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.04035705 0.05900757] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.9) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 10 is 33.6 meters away at (33.6, -0.4). A vehicle with ID 11 is 34.0 meters away at (34.0, -0.5). A vehicle with ID 13 is 40.8 meters away at (37.8, -15.4). A vehicle with ID 12 is 46.9 meters away at (3.8, 46.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -2.4) m/s. Its current heading (yaw) is -2.53

The most relevant actors are: A vehicle with ID 10 is 38.7 meters away at (38.2, 6.4). A vehicle with ID 13 is 43.4 meters away at (42.5, -8.6). A vehicle with ID 12 is 54.1 meters away at (8.1, 53.5).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 (-4.6, -0.4) m/s. Its current heading (yaw) is -3.06

The most relevant actors are: A vehicle with ID 10 is 47.3 meters away at (46.4, 8.7). A vehicle with ID 13 is 51.2 meters away at (50.8, -6.4). A vehicle with ID 12 is 58.3 meters away at (16.7, 55.9). A pedestrian with ID 1 is 74.9 meters away at (-74.5, 7.5).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.25547284 1.4452038 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -0.2) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A pedestrian with ID 32 is 3.7 meters away at (-1.7, 3.3). A pedestrian with ID 35 is 10.0 meters away at (-9.4, 3.6). A pedestrian with ID 33 is 10.2 meters away at (-9.8, 2.8). A unknown object with ID 38 is 10.6 meters away at (8.8, -5.9). A vehicle with ID 34 is 10.7 meters away at (-9.6, -4.7). A pedestrian with ID 39 is 11.4 meters away at (10.8, 3.7). A unknown object with ID 8 is 17.0 meters away at (15.4, -7.2). A unknown object with ID 30 is 19.1 meters away at (17.3, -7.9). A unknown object with ID 31 is 21.0 meters away at (19.1, -8.7). A pedestrian with ID 7 is 42.9 meters away at (-41.6, 10.5).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.48309088  0.11930317] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0217685  -0.19467011] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.057438   -0.13029043] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.72391117 1.3758461 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2329262  -0.11245321] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.388665   -0.57873124] m/s.

There are active red lights at the following coordinates: [[-53.180256  -5.227996]
 [-49.688953 -10.433131]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.6) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A pedestrian with ID 39 is 4.9 meters away at (2.1, 4.4). A unknown object with ID 38 is 5.8 meters away at (2.8, -5.1). A pedestrian with ID 32 is 8.9 meters away at (-7.9, 4.2). A unknown object with ID 8 is 11.4 meters away at (9.4, -6.3). A vehicle with ID 34 is 13.1 meters away at (-13.0, -0.5). A unknown object with ID 30 is 13.4 meters away at (11.3, -7.1). A unknown object with ID 31 is 15.3 meters away at (13.1, -7.9). A pedestrian with ID 35 is 17.9 meters away at (-17.4, 4.2). A pedestrian with ID 33 is 18.2 meters away at (-17.9, 3.5). A unknown object with ID 16 is 39.9 meters away at (35.3, -18.6).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.4075756  -0.08736978] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.0136933  -0.00348572] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [1.9692633 1.6477672] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0954466 -0.1248557] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.038599   -0.14930254] m/s.The unknown object with ID 16 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 (3.3, -1.1) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A unknown object with ID 38 is 4.8 meters away at (-3.5, -3.3). A pedestrian with ID 39 is 9.2 meters away at (-7.0, 6.0). A unknown object with ID 31 is 9.3 meters away at (6.9, -6.2). A vehicle with ID 34 is 14.7 meters away at (-14.4, 2.8). A pedestrian with ID 32 is 15.2 meters away at (-14.0, 5.8). A pedestrian with ID 33 is 26.8 meters away at (-26.3, 5.2). A unknown object with ID 16 is 34.0 meters away at (29.1, -17.6). A unknown object with ID 19 is 61.0 meters away at (-59.2, 14.7). A unknown object with ID 24 is 62.2 meters away at (53.9, -30.9).

The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.3764578  -0.00517855] m/s.The unknown object 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 [2.5315192  0.16506954] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.08578847  0.02376963] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0919584  0.0390786] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-3.464858  -3.3396769], 4.812346935272217 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.6) m/s. Its current heading (yaw) is -0.43

The most relevant actors are: A unknown object with ID 38 is 10.5 meters away at (-10.4, -0.6). A pedestrian with ID 39 is 19.1 meters away at (-16.8, 9.1). A vehicle with ID 34 is 19.6 meters away at (-18.8, 5.6). A pedestrian with ID 32 is 22.7 meters away at (-21.0, 8.6). A unknown object with ID 24 is 54.8 meters away at (47.0, -28.2).

The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.4420929   0.17955211] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.04506625 -0.01828639] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-10.448169   -0.6107898], 10.4660062789917 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.3) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 44 is 5.2 meters away at (3.2, -4.1). A unknown object with ID 36 is 7.5 meters away at (-2.1, -7.2). A vehicle with ID 41 is 7.8 meters away at (-7.7, -1.0). A unknown object with ID 35 is 14.1 meters away at (-6.2, -12.7). A vehicle with ID 46 is 14.3 meters away at (-1.1, -14.3). A vehicle with ID 54 is 15.6 meters away at (-13.9, 7.1). A vehicle with ID 51 is 17.1 meters away at (-16.8, 3.4). A vehicle with ID 39 is 18.3 meters away at (-15.2, -10.3). A pedestrian with ID 22 is 19.5 meters away at (3.1, -19.3). A vehicle with ID 56 is 19.8 meters away at (4.2, -19.3).

The vehicle with ID 44 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 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 46 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 51 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [0.0336851  0.00506515] m/s.The vehicle with ID 56 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 (-1.9, -2.2) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A unknown object with ID 36 is 3.1 meters away at (1.6, -2.6). A vehicle with ID 41 is 5.2 meters away at (-3.9, 3.4). A vehicle with ID 44 is 6.9 meters away at (6.9, 0.4). A unknown object with ID 35 is 8.5 meters away at (-2.5, -8.1). A vehicle with ID 46 is 10.1 meters away at (2.6, -9.7). A unknown object with ID 21 is 12.2 meters away at (10.4, -6.4). A vehicle with ID 39 is 12.8 meters away at (-11.4, -5.8). A unknown object with ID 34 is 14.1 meters away at (-6.3, -12.6). A vehicle with ID 51 is 15.2 meters away at (-13.0, 7.8). A vehicle with ID 54 is 15.5 meters away at (-10.2, 11.6).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.6466937 -2.6390467], 3.110653877258301 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.2) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A unknown object with ID 35 is 4.0 meters away at (1.3, -3.8). A unknown object with ID 36 is 5.6 meters away at (5.4, 1.7). A vehicle with ID 39 is 7.8 meters away at (-7.6, -1.4). A vehicle with ID 41 is 7.8 meters away at (-0.3, 7.8). A vehicle with ID 46 is 8.4 meters away at (6.4, -5.5). A unknown object with ID 34 is 8.6 meters away at (-2.6, -8.2). A vehicle with ID 44 is 11.6 meters away at (10.6, 4.7). A vehicle with ID 42 is 12.0 meters away at (-10.9, -5.1). A unknown object with ID 37 is 13.4 meters away at (-5.7, -12.1). A unknown object with ID 21 is 14.3 meters away at (14.2, -2.0).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 44 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 unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.2662401 -3.774024 ], 3.9807815551757812 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.3) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A unknown object with ID 34 is 3.9 meters away at (1.1, -3.7). A unknown object with ID 35 is 5.0 meters away at (4.9, 0.7). A vehicle with ID 39 is 5.0 meters away at (-3.9, 3.1). A vehicle with ID 42 is 7.2 meters away at (-7.2, -0.6). A unknown object with ID 37 is 7.9 meters away at (-2.0, -7.6). A vehicle with ID 46 is 10.1 meters away at (10.0, -1.0). A unknown object with ID 36 is 11.0 meters away at (9.1, 6.1). A vehicle with ID 43 is 11.1 meters away at (-10.2, -4.3). A vehicle with ID 41 is 12.8 meters away at (3.5, 12.3). A vehicle with ID 45 is 13.4 meters away at (-11.8, -6.4).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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: Continue straight.

(The closest actor is a unknown object at [ 1.0782194 -3.7465458], 3.8986103534698486 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 0.6) m/s. Its current heading (yaw) is 3.03

The most relevant actors are: A vehicle with ID 71 is 7.8 meters away at (-2.9, 7.3). A vehicle with ID 69 is 8.1 meters away at (2.4, 7.8). A vehicle with ID 64 is 8.6 meters away at (5.2, 6.9). A vehicle with ID 73 is 9.3 meters away at (-5.7, 7.3). A vehicle with ID 78 is 11.2 meters away at (-8.7, 7.1). A vehicle with ID 62 is 12.8 meters away at (10.6, 7.1). A vehicle with ID 58 is 13.5 meters away at (-11.3, 7.5). A unknown object with ID 48 is 14.8 meters away at (-6.1, -13.5). A vehicle with ID 77 is 17.2 meters away at (-7.2, -15.6). A vehicle with ID 65 is 17.3 meters away at (16.1, 6.3).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.1) m/s. Its current heading (yaw) is 3.12

The most relevant actors are: A vehicle with ID 58 is 6.8 meters away at (0.6, 6.8). A vehicle with ID 78 is 7.2 meters away at (3.1, 6.5). A vehicle with ID 57 is 8.4 meters away at (-4.6, 7.0). A vehicle with ID 73 is 9.0 meters away at (6.1, 6.7). A vehicle with ID 53 is 9.6 meters away at (-7.4, 6.1). A vehicle with ID 71 is 11.1 meters away at (8.9, 6.6). A vehicle with ID 54 is 12.3 meters away at (-10.4, 6.4). A vehicle with ID 80 is 14.1 meters away at (-1.2, -14.0). A vehicle with ID 26 is 14.6 meters away at (-12.9, 6.8). A vehicle with ID 81 is 14.9 meters away at (-7.0, -13.2).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 (-6.4, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 54 is 6.6 meters away at (1.9, 6.3). A vehicle with ID 26 is 6.9 meters away at (-0.5, 6.9). A vehicle with ID 53 is 7.8 meters away at (4.9, 6.1). A vehicle with ID 55 is 9.3 meters away at (-6.1, 6.9). A vehicle with ID 57 is 10.4 meters away at (7.7, 6.9). A vehicle with ID 50 is 13.3 meters away at (-11.5, 6.7). A vehicle with ID 84 is 13.4 meters away at (-0.2, -13.4). A vehicle with ID 82 is 13.8 meters away at (2.4, -13.5). A vehicle with ID 81 is 14.3 meters away at (5.4, -13.2). A vehicle with ID 58 is 14.6 meters away at (13.0, 6.8).

The vehicle with ID 54 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 53 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 57 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -0.1) m/s. Its current heading (yaw) is -3.13

The most relevant actors are: A vehicle with ID 50 is 7.0 meters away at (1.8, 6.8). A pedestrian with ID 97 is 9.2 meters away at (-3.9, -8.3). A vehicle with ID 49 is 10.1 meters away at (-7.2, 7.0). A vehicle with ID 55 is 10.1 meters away at (7.2, 7.0). A vehicle with ID 56 is 13.1 meters away at (2.4, -12.9). A vehicle with ID 89 is 14.0 meters away at (5.0, -13.1). A vehicle with ID 26 is 14.6 meters away at (12.9, 6.9). A vehicle with ID 54 is 16.7 meters away at (15.4, 6.4). A vehicle with ID 2 is 17.7 meters away at (17.7, -0.4). A vehicle with ID 84 is 18.8 meters away at (13.3, -13.4).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [1.0856949  0.51247436] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 2 is traveling at a (x, y) velocity of [-7.5856695   0.00977294] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 5.4) m/s. Its current heading (yaw) is 1.83

The most relevant actors are: A vehicle with ID 55 is 14.0 meters away at (10.8, -8.9). A vehicle with ID 57 is 17.4 meters away at (17.1, 3.6). A vehicle with ID 54 is 18.1 meters away at (2.3, -17.9). A vehicle with ID 58 is 22.5 meters away at (22.0, 4.8). A vehicle with ID 56 is 25.0 meters away at (14.7, -20.2). A vehicle with ID 60 is 27.7 meters away at (9.7, 25.9). A vehicle with ID 61 is 28.2 meters away at (12.1, 25.5). A vehicle with ID 62 is 29.7 meters away at (14.4, 25.9). A vehicle with ID 63 is 30.7 meters away at (16.9, 25.6). A vehicle with ID 49 is 31.9 meters away at (19.3, 25.4).

The vehicle with ID 55 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 54 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 5.0) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 60 is 19.7 meters away at (12.4, 15.3). A vehicle with ID 61 is 21.0 meters away at (14.7, 15.0). A vehicle with ID 57 is 21.1 meters away at (19.9, -6.8). A vehicle with ID 62 is 23.0 meters away at (17.1, 15.3). A vehicle with ID 55 is 23.7 meters away at (13.6, -19.5). A vehicle with ID 63 is 24.7 meters away at (19.5, 15.1). A vehicle with ID 58 is 25.5 meters away at (24.9, -5.5). A vehicle with ID 49 is 26.5 meters away at (21.9, 14.9). A vehicle with ID 15 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 65 is 28.6 meters away at (6.4, 27.9).

The vehicle with ID 60 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 57 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 55 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.7) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 60 is 16.2 meters away at (14.2, 7.8). A vehicle with ID 61 is 18.1 meters away at (16.5, 7.4). A vehicle with ID 62 is 20.4 meters away at (18.9, 7.8). A vehicle with ID 65 is 21.9 meters away at (8.2, 20.3). A vehicle with ID 63 is 22.6 meters away at (21.3, 7.5). A vehicle with ID 64 is 23.0 meters away at (11.4, 20.0). A vehicle with ID 49 is 24.9 meters away at (23.8, 7.3). A vehicle with ID 66 is 25.1 meters away at (14.8, 20.3). A vehicle with ID 57 is 26.1 meters away at (21.8, -14.5). A vehicle with ID 15 is 27.1 meters away at (26.2, 7.1).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 64 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 66 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.5) m/s. Its current heading (yaw) is 1.79

The most relevant actors are: A vehicle with ID 60 is 15.7 meters away at (15.6, 2.0). A vehicle with ID 65 is 17.4 meters away at (9.6, 14.5). A vehicle with ID 61 is 18.0 meters away at (17.9, 1.8). A vehicle with ID 64 is 19.1 meters away at (12.8, 14.1). A vehicle with ID 66 is 21.8 meters away at (16.2, 14.6). A vehicle with ID 63 is 22.8 meters away at (22.8, 1.8). A vehicle with ID 49 is 25.2 meters away at (25.1, 1.6). A vehicle with ID 53 is 27.6 meters away at (2.2, 27.5). A vehicle with ID 15 is 27.6 meters away at (27.6, 1.4). A unknown object with ID 20 is 29.8 meters away at (-8.6, 28.5).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 66 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.6) m/s. Its current heading (yaw) is 2.91

The most relevant actors are: A pedestrian with ID 21 is 7.0 meters away at (0.8, 7.0). A pedestrian with ID 19 is 7.4 meters away at (-2.6, 6.9). A vehicle with ID 20 is 8.6 meters away at (8.0, -3.1). A vehicle with ID 24 is 24.4 meters away at (20.6, -13.1). A unknown object with ID 10 is 29.6 meters away at (16.1, -24.8). A unknown object with ID 25 is 29.9 meters away at (-29.8, 2.2). A unknown object with ID 26 is 41.1 meters away at (35.6, -20.6). A unknown object with ID 27 is 42.2 meters away at (41.0, -10.1). A pedestrian with ID 3 is 80.4 meters away at (33.1, 73.2).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03472945 -0.05932887] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01484176 0.03943157] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.75894433  0.28891462] m/s.The vehicle with ID 24 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9793929 -1.1744338] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.6) m/s. Its current heading (yaw) is 2.33

The most relevant actors are: A pedestrian with ID 19 is 5.3 meters away at (3.3, 4.1). A pedestrian with ID 21 is 8.0 meters away at (6.9, 4.1). A vehicle with ID 20 is 11.5 meters away at (10.5, -4.6). A unknown object with ID 25 is 23.8 meters away at (-23.8, -1.0). A unknown object with ID 16 is 29.0 meters away at (-28.9, -2.3). A vehicle with ID 24 is 31.1 meters away at (26.8, -15.8). A unknown object with ID 10 is 35.6 meters away at (22.6, -27.5). A unknown object with ID 27 is 48.9 meters away at (47.2, -12.6). A pedestrian with ID 3 is 78.0 meters away at (36.9, 68.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.2002313  0.018463 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.16687928  0.00800505] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.0141928  1.0157384] 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9703001 -1.0042334] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [3.3390574 4.053346 ], 5.251563549041748 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.9) m/s. Its current heading (yaw) is 1.04

The most relevant actors are: A pedestrian with ID 19 is 5.0 meters away at (3.9, -3.1). A pedestrian with ID 21 is 8.0 meters away at (7.4, -3.0). A vehicle with ID 20 is 9.8 meters away at (3.0, -9.3). A unknown object with ID 25 is 24.6 meters away at (-23.2, -8.3). A vehicle with ID 24 is 35.8 meters away at (27.5, -22.9). A unknown object with ID 8 is 52.2 meters away at (42.7, -30.1). A pedestrian with ID 3 is 69.4 meters away at (36.2, 59.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04208741 -0.01366555] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.01101432 -0.01833193] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.431661   1.6773629] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 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 [-0.47268906 -1.3073174 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.8) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A pedestrian with ID 21 is 11.9 meters away at (0.2, -11.9). A pedestrian with ID 19 is 12.1 meters away at (-3.2, -11.6). A vehicle with ID 20 is 21.8 meters away at (-17.6, -12.9). A unknown object with ID 25 is 34.6 meters away at (-30.5, -16.4). A pedestrian with ID 3 is 55.8 meters away at (28.7, 47.9).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03529707 -0.00647004] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00847922  0.01874118] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-8.038753   3.0502586] m/s.The unknown object with ID 25 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 [-0.605475  -1.1636397] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.7) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 71 is 19.0 meters away at (-3.0, 18.8). A vehicle with ID 44 is 24.3 meters away at (-8.2, 22.9). A vehicle with ID 35 is 27.0 meters away at (19.3, 18.9). A vehicle with ID 67 is 27.2 meters away at (-6.3, -26.5). A pedestrian with ID 66 is 28.9 meters away at (-24.5, -15.5). A vehicle with ID 65 is 29.7 meters away at (-16.5, -24.7). A vehicle with ID 52 is 30.4 meters away at (-13.5, 27.3). A vehicle with ID 37 is 39.8 meters away at (27.4, 28.9). A vehicle with ID 62 is 46.8 meters away at (24.1, 40.2). A vehicle with ID 36 is 46.8 meters away at (31.8, 34.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5431335 -1.4253705] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 2.7680576 -4.0602803] m/s.The vehicle with ID 52 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 62 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.

There are active red lights at the following coordinates: [[-4.2327323 -6.8927016]
 [-1.650026  -4.8607264]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 6.8) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 35 is 10.1 meters away at (8.6, 5.3). A vehicle with ID 71 is 14.6 meters away at (-13.7, 5.1). A unknown object with ID 39 is 18.3 meters away at (-2.7, 18.1). A unknown object with ID 38 is 22.4 meters away at (-15.6, 16.2). A vehicle with ID 37 is 22.5 meters away at (16.6, 15.2). A unknown object with ID 47 is 24.5 meters away at (-17.0, 17.6). A vehicle with ID 36 is 29.6 meters away at (21.0, 20.8). A vehicle with ID 62 is 29.7 meters away at (13.2, 26.5). A vehicle with ID 63 is 36.4 meters away at (17.7, 31.8). A vehicle with ID 34 is 37.4 meters away at (25.9, 27.0).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.4) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 37 is 6.0 meters away at (5.7, 1.8). A vehicle with ID 35 is 8.3 meters away at (-2.3, -8.0). A vehicle with ID 36 is 12.5 meters away at (10.1, 7.3). A vehicle with ID 62 is 13.4 meters away at (2.3, 13.1). A unknown object with ID 39 is 14.7 meters away at (-13.9, 4.9). A vehicle with ID 63 is 19.6 meters away at (6.7, 18.4). A vehicle with ID 34 is 20.3 meters away at (15.0, 13.6). A vehicle with ID 41 is 22.5 meters away at (-22.0, -4.5). A vehicle with ID 64 is 25.6 meters away at (10.4, 23.4). A vehicle with ID 71 is 26.3 meters away at (-25.0, -8.2).

The vehicle with ID 37 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 36 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 unknown object with ID 39 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 (5.3, 6.2) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 34 is 4.5 meters away at (4.5, 0.6). A vehicle with ID 36 is 5.4 meters away at (-0.3, -5.4). A vehicle with ID 63 is 6.8 meters away at (-3.9, 5.5). A vehicle with ID 62 is 8.3 meters away at (-8.3, 0.2). A vehicle with ID 64 is 10.5 meters away at (-0.2, 10.5). A vehicle with ID 6 is 11.4 meters away at (9.2, 6.7). A vehicle with ID 37 is 12.0 meters away at (-4.8, -11.0). A vehicle with ID 3 is 17.3 meters away at (4.8, 16.6). A vehicle with ID 2 is 17.7 meters away at (13.6, 11.3). A vehicle with ID 1 is 24.1 meters away at (9.4, 22.2).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 64 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 37 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 11 is 18.7 meters away at (6.1, 17.6). A vehicle with ID 20 is 35.4 meters away at (-2.2, -35.4). A vehicle with ID 23 is 40.1 meters away at (5.8, -39.6). A vehicle with ID 17 is 43.5 meters away at (21.9, -37.5). A pedestrian with ID 27 is 49.9 meters away at (0.6, 49.9). A vehicle with ID 24 is 58.4 meters away at (-5.7, -58.1). A vehicle with ID 28 is 67.5 meters away at (-5.3, -67.3). A pedestrian with ID 13 is 74.5 meters away at (1.3, -74.5). A pedestrian with ID 25 is 74.5 meters away at (-9.6, -73.9).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.7418077  3.2331479] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.521356   2.1870503] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [16.175621  -4.7573667] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.16690975 -1.4384956 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2330829e-04  6.7118592e-05] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.2132094   0.46628606] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.1) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 20 is 21.8 meters away at (-3.8, -21.5). A vehicle with ID 11 is 22.8 meters away at (8.2, 21.3). A vehicle with ID 23 is 29.7 meters away at (0.3, -29.7). A pedestrian with ID 27 is 50.8 meters away at (3.1, 50.7). A vehicle with ID 24 is 54.7 meters away at (-3.7, -54.6). A vehicle with ID 28 is 63.8 meters away at (-3.3, -63.7). A pedestrian with ID 13 is 71.1 meters away at (3.1, -71.0). A pedestrian with ID 15 is 72.0 meters away at (2.9, -72.0). A pedestrian with ID 18 is 76.9 meters away at (5.7, -76.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.6011484  6.7970076] m/s.The vehicle with ID 11 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 [-3.2841284  4.903097 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00738169 -1.2877018 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0363323  -0.01082829] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.04186305 -0.03740675] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0194205  0.00628898] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.3) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.8, -0.9). A vehicle with ID 23 is 12.4 meters away at (-2.9, -12.0). A vehicle with ID 11 is 27.3 meters away at (8.8, 25.8). A vehicle with ID 24 is 50.2 meters away at (-3.0, -50.1). A pedestrian with ID 27 is 52.8 meters away at (3.7, 52.6). A vehicle with ID 28 is 59.3 meters away at (-2.5, -59.2). A pedestrian with ID 13 is 66.6 meters away at (3.9, -66.4). A pedestrian with ID 5 is 66.7 meters away at (-7.1, -66.3). A pedestrian with ID 15 is 67.5 meters away at (3.7, -67.4). A pedestrian with ID 18 is 72.5 meters away at (6.4, -72.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.05932062  9.041043  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.6106824  7.8938856] m/s.The vehicle with ID 11 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 27 is traveling at a (x, y) velocity of [-0.02257917 -1.2617469 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00560629 -0.00894426] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.04120249 -0.01491781] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.02564694 0.01155995] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01225801 0.00136118] 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, -2.4) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 23 is 9.5 meters away at (-3.4, 8.9). A vehicle with ID 20 is 24.0 meters away at (-3.8, 23.7). A vehicle with ID 11 is 32.0 meters away at (8.7, 30.7). A pedestrian with ID 2 is 33.5 meters away at (28.6, -17.4). A vehicle with ID 24 is 45.3 meters away at (-3.1, -45.2). A vehicle with ID 28 is 54.4 meters away at (-2.6, -54.3). A pedestrian with ID 27 is 55.0 meters away at (3.5, 54.9). A pedestrian with ID 13 is 61.6 meters away at (3.9, -61.5). A pedestrian with ID 5 is 61.7 meters away at (-7.1, -61.3). A pedestrian with ID 14 is 62.4 meters away at (-7.5, -62.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.14450265  8.009176  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.0346866 10.586694 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.312381    0.39848134] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02590764 -1.3116206 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02500449 -0.00212877] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.001451    0.01731574] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04404834  0.01433701] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.7) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 50 is 8.5 meters away at (8.2, 2.2). A vehicle with ID 48 is 12.4 meters away at (10.6, 6.5). A vehicle with ID 58 is 14.6 meters away at (5.9, -13.4). A vehicle with ID 49 is 16.8 meters away at (-1.5, -16.7). A vehicle with ID 53 is 17.4 meters away at (13.6, 10.8). A vehicle with ID 65 is 21.3 meters away at (11.0, -18.2). A vehicle with ID 54 is 22.9 meters away at (16.4, 15.9). A vehicle with ID 46 is 24.2 meters away at (-23.6, 5.6). A vehicle with ID 71 is 27.9 meters away at (-0.1, -27.9). A pedestrian with ID 57 is 28.1 meters away at (-27.9, -3.0).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [ 2.9388332 -4.9873576] m/s.The vehicle with ID 53 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-1.9171987  1.7335862] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.600623  1.2389512] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.9) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 50 is 11.6 meters away at (10.2, 5.5). A vehicle with ID 58 is 12.9 meters away at (8.0, -10.2). A vehicle with ID 48 is 16.0 meters away at (12.6, 9.8). A unknown object with ID 41 is 16.6 meters away at (-7.5, -14.8). A vehicle with ID 65 is 19.7 meters away at (13.1, -14.8). A vehicle with ID 53 is 21.2 meters away at (15.7, 14.2). A pedestrian with ID 57 is 24.7 meters away at (-24.5, 3.3). A vehicle with ID 71 is 24.8 meters away at (2.1, -24.7). A vehicle with ID 46 is 25.1 meters away at (-23.0, 10.1). A vehicle with ID 49 is 25.4 meters away at (9.6, -23.5).

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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 pedestrian with ID 57 is traveling at a (x, y) velocity of [1.0302079 1.3316809] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 5.624776  -5.3331833] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 0.1) m/s. Its current heading (yaw) is 3.11

The most relevant actors are: A unknown object with ID 41 is 12.1 meters away at (-1.8, -12.0). A vehicle with ID 58 is 15.6 meters away at (13.6, -7.6). A vehicle with ID 50 is 17.9 meters away at (15.9, 8.2). A pedestrian with ID 57 is 18.8 meters away at (-16.7, 8.7). A vehicle with ID 46 is 21.7 meters away at (-17.4, 12.9). A vehicle with ID 48 is 22.2 meters away at (18.3, 12.5). A vehicle with ID 65 is 22.4 meters away at (18.7, -12.3). A vehicle with ID 71 is 23.2 meters away at (7.7, -21.9). A vehicle with ID 53 is 27.2 meters away at (21.4, 16.9). A vehicle with ID 77 is 27.9 meters away at (3.7, -27.7).

The unknown object with ID 41 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.1468092 1.2502162] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -1.7559252 -12.010046 ], 12.13772964477539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 1.8) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A pedestrian with ID 57 is 12.6 meters away at (-8.8, 9.0). A vehicle with ID 46 is 15.6 meters away at (-11.5, 10.5). A vehicle with ID 58 is 21.9 meters away at (19.4, -10.2). A vehicle with ID 50 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 48 is 26.2 meters away at (24.2, 9.9). A vehicle with ID 71 is 27.9 meters away at (13.4, -24.5). A pedestrian with ID 19 is 28.3 meters away at (7.8, -27.2). A vehicle with ID 65 is 28.7 meters away at (24.5, -14.9). A vehicle with ID 53 is 30.8 meters away at (27.3, 14.3). A vehicle with ID 77 is 31.6 meters away at (9.4, -30.2).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.62563944 1.4374276 ] m/s.The vehicle with ID 46 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.05809914 -0.0031399 ] m/s.The vehicle with ID 65 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.6) m/s. Its current heading (yaw) is -1.30

The most relevant actors are: A pedestrian with ID 12 is 9.7 meters away at (9.5, -2.0). A vehicle with ID 13 is 14.4 meters away at (8.2, 11.8). A vehicle with ID 37 is 15.2 meters away at (13.9, 6.2). A vehicle with ID 42 is 15.4 meters away at (8.3, -12.9). A vehicle with ID 41 is 25.4 meters away at (18.0, 17.9). A pedestrian with ID 43 is 25.9 meters away at (20.4, 16.0). A vehicle with ID 46 is 31.6 meters away at (12.0, -29.2). A vehicle with ID 39 is 32.4 meters away at (28.4, -15.7). A unknown object with ID 44 is 34.9 meters away at (-12.7, 32.6). A unknown object with ID 45 is 37.2 meters away at (-13.1, 34.9).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.26238662 -1.0018225 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.2345945  -0.43936923] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.29659322 0.56940264] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.8) m/s. Its current heading (yaw) is -1.05

The most relevant actors are: A pedestrian with ID 12 is 8.8 meters away at (8.8, -0.3). A vehicle with ID 42 is 11.8 meters away at (7.1, -9.5). A vehicle with ID 37 is 15.8 meters away at (12.7, 9.5). A vehicle with ID 13 is 16.7 meters away at (8.7, 14.2). A vehicle with ID 41 is 27.0 meters away at (16.8, 21.2). A vehicle with ID 46 is 28.0 meters away at (10.7, -25.9). A vehicle with ID 39 is 29.8 meters away at (27.1, -12.4). A unknown object with ID 44 is 38.6 meters away at (-13.9, 36.0). A unknown object with ID 45 is 40.9 meters away at (-14.2, 38.3). A unknown object with ID 47 is 42.8 meters away at (-14.6, 40.2).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.16504295 -0.64254266] m/s.The vehicle with ID 42 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 13 is traveling at a (x, y) velocity of [ 0.67367446 -0.68572575] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -1.2) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 12 is 6.0 meters away at (5.6, 2.3). A vehicle with ID 42 is 6.7 meters away at (2.4, -6.2). A vehicle with ID 37 is 15.8 meters away at (9.0, 13.0). A vehicle with ID 13 is 17.3 meters away at (5.8, 16.3). A pedestrian with ID 29 is 23.4 meters away at (18.7, -14.0). A vehicle with ID 46 is 23.4 meters away at (7.0, -22.4). A vehicle with ID 39 is 25.0 meters away at (23.4, -9.0). A vehicle with ID 41 is 27.9 meters away at (13.0, 24.7). A pedestrian with ID 38 is 41.2 meters away at (40.9, 4.7). A unknown object with ID 44 is 43.2 meters away at (-17.5, 39.5).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.1595022 -0.217788 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.2808965  -0.08398364] m/s.The vehicle with ID 37 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 [ 0.6930484  -0.86068743] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.12067938 -0.8162529 ] m/s.The vehicle with ID 46 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.26100612 -1.174466  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.3) m/s. Its current heading (yaw) is 0.07

The most relevant actors are: A pedestrian with ID 12 is 2.8 meters away at (-1.0, 2.6). A vehicle with ID 42 is 9.9 meters away at (-9.1, -3.8). A vehicle with ID 37 is 14.1 meters away at (2.4, 13.9). A vehicle with ID 13 is 16.1 meters away at (-0.1, 16.1). A vehicle with ID 39 is 18.6 meters away at (16.7, -8.0). A vehicle with ID 41 is 26.3 meters away at (6.2, 25.6). A pedestrian with ID 38 is 34.5 meters away at (34.3, 3.6). A vehicle with ID 36 is 37.7 meters away at (37.4, 5.0). A unknown object with ID 44 is 47.0 meters away at (-24.3, 40.3). A vehicle with ID 40 is 48.8 meters away at (47.8, 9.7).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.01598242 -0.02211474] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.711929  1.999653] m/s.The vehicle with ID 37 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 [ 0.33580926 -0.5397385 ] m/s.The vehicle with ID 39 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 pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.12794858 -1.0693283 ] m/s.The vehicle with ID 36 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.1) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 3 is 4.8 meters away at (-0.5, 4.7). A vehicle with ID 17 is 8.9 meters away at (8.8, -0.9). A vehicle with ID 54 is 11.0 meters away at (-10.9, 1.3). A vehicle with ID 10 is 11.2 meters away at (-9.5, 5.9). A vehicle with ID 59 is 14.0 meters away at (4.7, 13.2). A vehicle with ID 13 is 14.5 meters away at (-9.9, 10.5). A vehicle with ID 9 is 15.1 meters away at (13.3, -7.1). A vehicle with ID 57 is 16.2 meters away at (-0.4, 16.2). A vehicle with ID 55 is 16.9 meters away at (-16.2, 4.6). A vehicle with ID 58 is 20.3 meters away at (-5.9, 19.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.9776397 -2.1747458] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.2411    -2.4277468] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.584156  -2.6032457] m/s.The vehicle with ID 59 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 [ 3.9415665 -2.2143047] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5383215 -3.5223596] m/s.The vehicle with ID 57 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 58 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 (7.7, -4.3) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 17 is 5.6 meters away at (5.5, 0.9). A vehicle with ID 3 is 8.9 meters away at (-5.0, 7.3). A pedestrian with ID 69 is 13.2 meters away at (-9.5, -9.1). A vehicle with ID 81 is 13.4 meters away at (13.2, 2.3). A vehicle with ID 10 is 14.2 meters away at (-12.1, 7.3). A vehicle with ID 9 is 16.2 meters away at (14.4, -7.4). A pedestrian with ID 71 is 19.1 meters away at (10.6, -15.9). A vehicle with ID 13 is 19.3 meters away at (-14.3, 13.0). A vehicle with ID 59 is 22.3 meters away at (-8.4, 20.6). A vehicle with ID 49 is 24.1 meters away at (24.1, 0.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.920669  -3.3357646] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.439918  -3.0873039] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.0522764  1.1680744] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-6.6183653  3.664134 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.2305813 -3.6313746] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.503025 -4.214622] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.3424141 -1.0279648] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.7017713 -2.654649 ] m/s.The vehicle with ID 59 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 [-5.307062   2.8006408] m/s.

There are active red lights at the following coordinates: [[ 69.55663  -39.15048 ]
 [ 71.70011  -35.863377]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -4.9) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.9, 2.6). A vehicle with ID 82 is 8.6 meters away at (0.6, 8.6). A vehicle with ID 3 is 12.6 meters away at (-8.6, 9.2). A vehicle with ID 9 is 14.9 meters away at (13.2, -7.0). A vehicle with ID 49 is 16.2 meters away at (-4.1, 15.7). A vehicle with ID 10 is 16.7 meters away at (-14.4, 8.4). A vehicle with ID 85 is 21.6 meters away at (21.4, -2.8). A vehicle with ID 19 is 23.9 meters away at (22.2, -8.8). A vehicle with ID 13 is 25.5 meters away at (-19.9, 16.0). A vehicle with ID 83 is 25.8 meters away at (19.6, 16.7).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.4293003 -4.0591455] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-6.849291   3.6324863] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.977772  -3.9104395] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.552706  -4.3864098] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-6.609355  3.403963] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.7211905 -4.409658 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.58709    0.8638727] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.287524 -4.694576] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.459543  -3.5763333] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 18.819643 -10.98207 ]
 [ 18.336618 -11.976009]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.2) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 17 is 3.8 meters away at (2.2, 3.1). A vehicle with ID 85 is 8.8 meters away at (0.7, 8.8). A vehicle with ID 89 is 9.5 meters away at (8.4, 4.5). A vehicle with ID 9 is 13.2 meters away at (11.5, -6.4). A vehicle with ID 3 is 14.2 meters away at (-10.0, 10.1). A vehicle with ID 10 is 16.5 meters away at (-14.3, 8.3). A vehicle with ID 19 is 21.9 meters away at (20.0, -9.0). A vehicle with ID 20 is 25.4 meters away at (24.9, -5.3). A vehicle with ID 83 is 25.7 meters away at (4.1, 25.3). A pedestrian with ID 12 is 27.6 meters away at (17.9, -21.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.6427937 -4.3726707] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-2.8459373  1.6168693] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-2.595025   1.5135938] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.4678073 -3.8451533] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.263152  -4.0177326] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.922315 -4.434579] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.634706 -4.439339] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9705844  1.139635 ] m/s.The vehicle with ID 83 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 [-1.1013694  0.5492355] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.9) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 26 is 11.6 meters away at (-10.9, -3.8). A vehicle with ID 25 is 14.9 meters away at (1.9, -14.8). A vehicle with ID 33 is 20.1 meters away at (-19.9, 2.8). A vehicle with ID 28 is 22.4 meters away at (9.2, -20.5). A vehicle with ID 30 is 24.1 meters away at (15.9, -18.2). A vehicle with ID 32 is 25.2 meters away at (3.1, -25.0). A vehicle with ID 34 is 25.4 meters away at (-5.5, -24.8). A vehicle with ID 29 is 25.4 meters away at (19.5, -16.4). A vehicle with ID 31 is 27.9 meters away at (13.7, -24.3). A vehicle with ID 38 is 28.8 meters away at (-27.3, 9.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.31639102 -0.3674041 ] m/s.The vehicle with ID 33 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 [ 0.34364462 -0.35769862] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5267674 0.5793017] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 26 is 10.5 meters away at (-1.9, -10.3). A vehicle with ID 33 is 11.4 meters away at (-10.8, -3.6). A vehicle with ID 38 is 18.3 meters away at (-18.1, 2.7). A vehicle with ID 42 is 24.8 meters away at (-23.4, 8.2). A vehicle with ID 25 is 25.0 meters away at (11.7, -22.1). A vehicle with ID 52 is 25.3 meters away at (-24.9, 4.5). A vehicle with ID 34 is 30.1 meters away at (4.9, -29.7). A vehicle with ID 27 is 32.5 meters away at (-29.7, 13.1). A vehicle with ID 28 is 32.9 meters away at (18.4, -27.3). A vehicle with ID 32 is 34.1 meters away at (13.4, -31.4).

The vehicle with ID 26 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 38 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 25 is traveling at a (x, y) velocity of [ 0.42240244 -0.43362385] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.8372822 -2.4248343] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.77368623 0.9550392 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.495156   0.11350845] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 38 is 8.9 meters away at (-5.9, -6.7). A vehicle with ID 42 is 11.2 meters away at (-11.1, -1.3). A vehicle with ID 52 is 12.1 meters away at (-7.2, -9.8). A vehicle with ID 33 is 13.0 meters away at (1.4, -13.0). A vehicle with ID 27 is 17.9 meters away at (-17.5, 3.7). A vehicle with ID 26 is 22.3 meters away at (10.4, -19.7). A unknown object with ID 10 is 30.0 meters away at (-17.4, 24.5). A vehicle with ID 25 is 41.3 meters away at (25.2, -32.7). A vehicle with ID 34 is 41.9 meters away at (18.3, -37.7). A vehicle with ID 28 is 47.9 meters away at (30.7, -36.8).

The vehicle with ID 38 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 52 is traveling at a (x, y) velocity of [ 2.445206  -2.0789738] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 [ 0.7673311  -0.64059246] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5755517 0.8336507] m/s.The vehicle with ID 28 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, 5.8) m/s. Its current heading (yaw) is 2.48

The most relevant actors are: A vehicle with ID 27 is 7.3 meters away at (-3.0, -6.6). A vehicle with ID 42 is 12.6 meters away at (4.3, -11.8). A unknown object with ID 10 is 14.6 meters away at (-2.8, 14.3). A vehicle with ID 38 is 19.0 meters away at (8.7, -16.9). A vehicle with ID 52 is 26.8 meters away at (12.0, -24.0). A vehicle with ID 33 is 28.2 meters away at (16.1, -23.2). A vehicle with ID 26 is 39.1 meters away at (25.1, -29.9). A vehicle with ID 1 is 56.0 meters away at (-37.1, 41.9). A vehicle with ID 34 is 57.3 meters away at (34.3, -45.8). A vehicle with ID 17 is 57.4 meters away at (-20.4, -53.6).

The vehicle with ID 27 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 [ 1.0427254  -0.27244735] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.631732  -2.4110875] m/s.The vehicle with ID 33 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 1 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 [0.8467272 1.3977742] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A pedestrian with ID 15 is 9.0 meters away at (1.0, 8.9). A pedestrian with ID 16 is 9.3 meters away at (1.7, 9.2). A vehicle with ID 25 is 12.6 meters away at (2.5, -12.3). A vehicle with ID 24 is 12.6 meters away at (2.6, -12.3). A vehicle with ID 19 is 14.9 meters away at (-1.0, -14.9). A pedestrian with ID 3 is 16.7 meters away at (14.0, 9.2). A vehicle with ID 22 is 19.2 meters away at (5.9, -18.3). A vehicle with ID 17 is 21.9 meters away at (-9.0, -20.0). A pedestrian with ID 18 is 22.8 meters away at (-13.7, -18.2). A pedestrian with ID 21 is 22.8 meters away at (-7.6, -21.5).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.00634316 -0.00404877] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.01416432 -0.00261438] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.814728   3.9920409] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-10.031408    4.1002374] m/s.The vehicle with ID 19 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 [-0.00205501  0.0013006 ] m/s.The vehicle with ID 22 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 [-0.19721192 -1.8586552 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.04563024 -0.01613224] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00066156 -0.00511391] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [1.012722 8.911592], 8.968950271606445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.2) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 7 is 14.9 meters away at (7.9, -12.6). A vehicle with ID 22 is 15.1 meters away at (-9.2, -12.0). A vehicle with ID 23 is 15.4 meters away at (-1.8, -15.3). A pedestrian with ID 3 is 15.8 meters away at (-0.7, 15.7). A vehicle with ID 19 is 18.3 meters away at (-16.2, -8.6). A vehicle with ID 14 is 19.5 meters away at (6.9, -18.3). A pedestrian with ID 16 is 20.5 meters away at (-13.4, 15.5). A pedestrian with ID 15 is 20.8 meters away at (-14.1, 15.2). A vehicle with ID 26 is 24.9 meters away at (18.8, -16.4). A pedestrian with ID 20 is 29.6 meters away at (-26.0, -14.1).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [ 0.09909961 -0.13517682] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.0136439  -0.00307117] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00808228  0.00539944] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.0905156 -1.8097056] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.19367886 -0.02745766] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [  7.913164 -12.578704], 14.86075210571289 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 7 is 9.7 meters away at (-7.7, -6.0). A vehicle with ID 26 is 10.6 meters away at (-1.9, -10.5). A vehicle with ID 14 is 14.5 meters away at (-8.6, -11.7). A vehicle with ID 23 is 19.4 meters away at (-17.4, -8.7). A vehicle with ID 22 is 25.3 meters away at (-24.8, -5.4). A vehicle with ID 19 is 31.8 meters away at (-31.7, -2.0). A pedestrian with ID 16 is 36.5 meters away at (-29.0, 22.1). A pedestrian with ID 15 is 36.9 meters away at (-29.8, 21.8). A vehicle with ID 2 is 43.8 meters away at (-41.4, 14.5). A unknown object with ID 8 is 53.5 meters away at (51.8, -13.5).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.6778727  0.8607953] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 16 is traveling at a (x, y) velocity of [-0.01655403 -0.02511674] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0116119  -0.01181886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.16915   -4.0664663] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-7.6900406 -5.9674606], 9.7338228225708 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 10 is 7.1 meters away at (-2.5, 6.6). A unknown object with ID 7 is 23.2 meters away at (-23.2, 0.5). A vehicle with ID 26 is 23.8 meters away at (-23.7, -1.5). A vehicle with ID 14 is 24.6 meters away at (-24.1, -5.3). A vehicle with ID 23 is 33.1 meters away at (-33.0, -2.2). A vehicle with ID 22 is 40.2 meters away at (-40.2, 1.0). A vehicle with ID 2 is 40.4 meters away at (-38.3, 13.0). A vehicle with ID 19 is 47.4 meters away at (-47.2, 4.5). A unknown object with ID 9 is 52.4 meters away at (44.1, -28.3).

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 vehicle with ID 26 is traveling at a (x, y) velocity of [-4.4008245  1.8553721] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.769303  -4.1118464] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.5411682  6.6004467], 7.072724342346191 meters away.)