The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -5.7) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A pedestrian with ID 6 is 13.0 meters away at (-8.4, -9.8). A vehicle with ID 29 is 15.8 meters away at (2.1, -15.7). A vehicle with ID 21 is 18.2 meters away at (14.3, -11.3). A pedestrian with ID 39 is 39.2 meters away at (-8.4, -38.2). A vehicle with ID 4 is 40.3 meters away at (15.2, 37.3). A vehicle with ID 16 is 55.6 meters away at (-28.0, -48.1). A vehicle with ID 7 is 74.8 meters away at (-19.0, -72.3).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.3004604  -0.99629736] m/s.The vehicle with ID 29 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.2544898  -0.47872344] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-4.4090686 -6.3611507] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.782563 -4.157746] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [-8.440599 -9.8339  ], 12.959526062011719 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -4.9) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A pedestrian with ID 6 is 5.6 meters away at (-5.4, -1.5). A vehicle with ID 29 is 7.8 meters away at (5.8, -5.3). A vehicle with ID 21 is 18.0 meters away at (18.0, -0.8). A pedestrian with ID 39 is 28.9 meters away at (-2.1, -28.8). A vehicle with ID 4 is 33.8 meters away at (11.9, 31.6). A unknown object with ID 26 is 35.1 meters away at (23.1, 26.4). A unknown object with ID 17 is 43.3 meters away at (25.8, 34.7). A vehicle with ID 15 is 43.7 meters away at (-10.2, -42.5). A vehicle with ID 16 is 45.5 meters away at (-2.0, -45.5). A vehicle with ID 23 is 46.2 meters away at (0.1, -46.2).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.29520416 -1.1658574 ] m/s.The vehicle with ID 29 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.3485807  -0.50838715] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.183343 -8.868325] 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 17 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 [12.075879 -4.270883] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.034959  -3.8690803] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [11.817956  -4.1877007] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -4.1) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A pedestrian with ID 6 is 6.2 meters away at (-3.1, 5.3). A vehicle with ID 29 is 9.6 meters away at (8.9, 3.6). A pedestrian with ID 39 is 21.0 meters away at (3.7, -20.6). A vehicle with ID 21 is 22.7 meters away at (21.2, 8.1). A vehicle with ID 4 is 24.8 meters away at (8.8, 23.1). A vehicle with ID 33 is 34.8 meters away at (-18.3, -29.7). A unknown object with ID 3 is 42.3 meters away at (-1.4, -42.3). A unknown object with ID 26 is 44.1 meters away at (26.1, 35.5). A vehicle with ID 15 is 45.0 meters away at (16.3, -41.9). A vehicle with ID 7 is 54.2 meters away at (-12.3, -52.8).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.44163206 -1.099571  ] m/s.The vehicle with ID 29 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 [ 1.4226667 -0.4574753] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.8262181 -7.9527955] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [11.3463    -3.8581855] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 [11.92936   -4.1880474] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [-3.0716438  5.349724 ], 6.16883659362793 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.0) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 3 is 28.5 meters away at (-22.9, 16.9). A vehicle with ID 46 is 43.6 meters away at (28.9, -32.6). A vehicle with ID 47 is 44.8 meters away at (34.4, -28.6). A vehicle with ID 48 is 45.0 meters away at (32.4, -31.1). A unknown object with ID 49 is 51.3 meters away at (22.0, -46.3). A vehicle with ID 52 is 51.8 meters away at (-23.8, -46.0). A vehicle with ID 50 is 52.8 meters away at (40.5, -33.9). A vehicle with ID 54 is 54.1 meters away at (-30.7, -44.6). A vehicle with ID 53 is 58.1 meters away at (42.6, -39.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.7751393  5.616082 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 54 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 [-1.8787873  1.5902243] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.2) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A vehicle with ID 3 is 30.5 meters away at (-24.8, 17.9). A vehicle with ID 43 is 47.8 meters away at (-43.3, 20.3). A vehicle with ID 36 is 53.8 meters away at (-48.1, 24.3). A vehicle with ID 19 is 55.3 meters away at (-37.0, -41.1). A vehicle with ID 52 is 57.3 meters away at (-10.6, -56.3). A vehicle with ID 35 is 59.6 meters away at (-44.6, -39.5). A vehicle with ID 46 is 60.1 meters away at (42.1, -42.9). A vehicle with ID 47 is 61.5 meters away at (47.6, -39.0). A vehicle with ID 48 is 61.6 meters away at (45.5, -41.5). A unknown object with ID 49 is 66.6 meters away at (35.0, -56.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4596267  5.8972774] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 7.287796  -6.2511744] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.9162383 -5.812911 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 47 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 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 (-7.3, 5.4) m/s. Its current heading (yaw) is 2.50

The most relevant actors are: A vehicle with ID 43 is 14.9 meters away at (-14.7, -2.2). A vehicle with ID 36 is 19.7 meters away at (-19.6, 1.9). A vehicle with ID 33 is 22.5 meters away at (-20.9, 8.4). A vehicle with ID 3 is 31.3 meters away at (-24.8, 19.1). A vehicle with ID 23 is 54.8 meters away at (-13.7, -53.1). A vehicle with ID 19 is 56.2 meters away at (-22.4, -51.6). A vehicle with ID 35 is 58.3 meters away at (-30.0, -49.9). A vehicle with ID 1 is 69.1 meters away at (-65.3, 22.7). A vehicle with ID 46 is 77.8 meters away at (56.6, -53.3).

The vehicle with ID 43 is traveling at a (x, y) velocity of [ 6.9154334 -5.8334527] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.996362 -5.873173] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [10.199943 -8.589142] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.0161257  5.8261056] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[  8.338907 -19.314878]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.4) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A unknown object with ID 37 is 17.7 meters away at (17.5, -2.5). A vehicle with ID 36 is 20.8 meters away at (7.1, -19.6). A vehicle with ID 33 is 23.2 meters away at (13.0, -19.2). A vehicle with ID 3 is 31.3 meters away at (-24.3, 19.7). A unknown object with ID 39 is 39.8 meters away at (-38.0, 11.9). A vehicle with ID 16 is 44.1 meters away at (-37.7, 22.9). A unknown object with ID 38 is 47.0 meters away at (-43.9, 17.0). A vehicle with ID 1 is 52.6 meters away at (-51.2, 12.0). A vehicle with ID 2 is 54.2 meters away at (-53.4, 9.4). A pedestrian with ID 40 is 58.7 meters away at (-57.8, 10.5).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.9341807 -5.030554 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 9.257731  -7.8463616] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.623361   5.5803404] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 12.317123 -10.304621] m/s.The unknown object with ID 38 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.0406716 -0.2753069] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [17.517143 -2.454647], 17.688289642333984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -3.3) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 43 is 13.4 meters away at (-13.2, -2.6). A vehicle with ID 44 is 23.8 meters away at (-23.5, 3.3). A vehicle with ID 45 is 26.7 meters away at (-26.7, 1.4). A vehicle with ID 48 is 62.2 meters away at (55.2, -28.8). A vehicle with ID 35 is 62.9 meters away at (-49.5, -38.7). A pedestrian with ID 49 is 72.6 meters away at (-57.8, 43.9). A vehicle with ID 51 is 73.3 meters away at (66.9, -30.0). A pedestrian with ID 50 is 74.1 meters away at (-57.8, 46.4). A vehicle with ID 47 is 78.1 meters away at (-71.4, 31.7). A vehicle with ID 53 is 78.7 meters away at (-67.6, 40.3).

The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.7543827   0.92540514] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.371996  -3.9336584] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -1.4678912 -15.393016 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.05835614 -0.00273981] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [11.117909  -4.6502643] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.02900522 0.01957589] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-6.4311056  4.0687404] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.5) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A unknown object with ID 25 is 37.4 meters away at (37.4, 0.1). A vehicle with ID 45 is 40.6 meters away at (-39.7, 8.5). A vehicle with ID 32 is 64.4 meters away at (-52.4, 37.4). A vehicle with ID 48 is 67.3 meters away at (60.4, -29.7). A pedestrian with ID 2 is 69.8 meters away at (66.8, -20.1). A pedestrian with ID 36 is 69.9 meters away at (66.7, -20.9).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ -5.1925664 -15.520421 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.124835  -3.8842945] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2906575 -0.5838745] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3510406 -0.5551583] m/s.

There are active red lights at the following coordinates: [[-27.816591    6.568421 ]
 [-28.55202     3.4377942]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [37.380608   0.1003933], 37.380741119384766 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -3.5) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A pedestrian with ID 33 is 53.5 meters away at (52.1, -11.9). A pedestrian with ID 2 is 57.5 meters away at (55.7, -14.3). A pedestrian with ID 36 is 57.8 meters away at (55.8, -15.2). A pedestrian with ID 1 is 64.7 meters away at (62.3, -17.7). A vehicle with ID 48 is 71.7 meters away at (65.0, -30.4). A vehicle with ID 37 is 75.1 meters away at (-64.7, 38.1). A vehicle with ID 39 is 75.6 meters away at (-74.7, 12.0).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0588331  0.5025501] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2000502 -0.5872429] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2505656 -0.5125844] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.02722818 0.00842255] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.196349  -3.8831873] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -5.0483   -16.250038] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -1.9834874 -13.84513  ] m/s.

There are active red lights at the following coordinates: [[-27.816591    6.568421 ]
 [-28.55202     3.4377942]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.4) m/s. Its current heading (yaw) is -0.46

The most relevant actors are: A pedestrian with ID 33 is 36.3 meters away at (36.1, -3.8). A pedestrian with ID 3 is 45.4 meters away at (44.7, -7.7). A pedestrian with ID 2 is 45.5 meters away at (44.7, -8.2). A pedestrian with ID 36 is 45.9 meters away at (45.0, -8.9). A pedestrian with ID 1 is 49.8 meters away at (48.7, -10.7). A vehicle with ID 24 is 72.4 meters away at (-68.7, 22.9). A pedestrian with ID 14 is 74.9 meters away at (70.2, -26.1). A vehicle with ID 48 is 76.2 meters away at (69.5, -31.3).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0694311  0.5262315] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2613374  -0.16743906] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.290349   -0.40096542] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2514309  -0.16530004] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01443889 -0.0034122 ] m/s.The vehicle with ID 24 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 [ 0.19454327 -1.381366  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 8.999143  -3.8756049] m/s.

There are active red lights at the following coordinates: [[-27.816591    6.568421 ]
 [-28.55202     3.4377942]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.2) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 65 is 10.2 meters away at (9.5, -3.9). A vehicle with ID 63 is 11.1 meters away at (0.1, 11.1). A pedestrian with ID 59 is 12.9 meters away at (-11.9, -5.2). A vehicle with ID 64 is 16.9 meters away at (-16.9, 1.3). A vehicle with ID 66 is 20.2 meters away at (-12.8, 15.6). A vehicle with ID 68 is 22.1 meters away at (-21.9, 2.9). A vehicle with ID 69 is 31.1 meters away at (-30.6, 5.9). A vehicle with ID 70 is 35.6 meters away at (31.7, 16.2). A vehicle with ID 73 is 39.8 meters away at (38.5, -9.8). A vehicle with ID 74 is 41.7 meters away at (35.9, 21.2).

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 pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2003161  0.4545458] 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 68 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 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 65 is 9.8 meters away at (9.1, -3.7). A vehicle with ID 63 is 11.2 meters away at (-0.2, 11.2). A pedestrian with ID 59 is 15.1 meters away at (-14.4, -4.5). A vehicle with ID 64 is 17.3 meters away at (-17.2, 1.5). A vehicle with ID 66 is 20.5 meters away at (-13.1, 15.8). A vehicle with ID 68 is 22.5 meters away at (-22.3, 3.1). A vehicle with ID 69 is 31.5 meters away at (-30.9, 6.1). A vehicle with ID 70 is 35.3 meters away at (31.3, 16.3). A vehicle with ID 73 is 39.4 meters away at (38.2, -9.7). A vehicle with ID 74 is 41.5 meters away at (35.6, 21.3).

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 pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.1291128   0.39535648] 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 68 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 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 63 is 11.4 meters away at (-0.5, 11.4). A vehicle with ID 65 is 11.4 meters away at (10.4, -4.6). A pedestrian with ID 59 is 17.2 meters away at (-16.9, -3.4). A vehicle with ID 64 is 17.5 meters away at (-17.4, 1.5). A vehicle with ID 66 is 20.7 meters away at (-13.3, 15.9). A vehicle with ID 68 is 22.7 meters away at (-22.5, 3.2). A vehicle with ID 69 is 31.8 meters away at (-31.2, 6.2). A vehicle with ID 70 is 35.2 meters away at (31.1, 16.4). A vehicle with ID 73 is 37.2 meters away at (36.3, -8.3). A vehicle with ID 74 is 41.3 meters away at (35.3, 21.4).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 1.7682741 -1.2237637] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3985574  0.6264109] 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 68 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 70 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 [-2.829181  1.987573] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -1.8) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 65 is 13.2 meters away at (9.8, -9.0). A vehicle with ID 63 is 14.6 meters away at (-5.8, 13.4). A vehicle with ID 73 is 21.9 meters away at (21.9, -0.8). A vehicle with ID 64 is 23.2 meters away at (-22.9, 3.6). A pedestrian with ID 59 is 24.7 meters away at (-24.7, -0.2). A vehicle with ID 66 is 26.0 meters away at (-18.8, 17.9). A vehicle with ID 68 is 28.3 meters away at (-27.8, 5.2). A vehicle with ID 70 is 31.6 meters away at (25.6, 18.4). A vehicle with ID 78 is 35.0 meters away at (29.9, 18.2). A pedestrian with ID 57 is 37.1 meters away at (36.9, -3.2).

The vehicle with ID 65 is traveling at a (x, y) velocity of [ 1.2212718 -4.3752055] m/s.The vehicle with ID 63 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 [-6.18827    3.0093913] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3443046  0.4200704] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 [-1.3911703 -1.5883142] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0979286  0.1629606] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.5) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 45 is 12.5 meters away at (7.5, -10.0). A unknown object with ID 48 is 17.3 meters away at (6.7, -15.9). A vehicle with ID 49 is 18.7 meters away at (14.1, -12.3). A vehicle with ID 57 is 26.6 meters away at (21.5, -15.7). A vehicle with ID 61 is 31.1 meters away at (-1.6, 31.1). A vehicle with ID 79 is 35.7 meters away at (13.2, 33.2). A vehicle with ID 40 is 36.7 meters away at (-35.3, -10.1). A vehicle with ID 62 is 37.0 meters away at (2.8, 36.9). A vehicle with ID 63 is 39.5 meters away at (-36.6, 14.6). A vehicle with ID 41 is 40.2 meters away at (-32.8, -23.2).

The vehicle with ID 45 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 49 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.0) m/s. Its current heading (yaw) is 2.90

The most relevant actors are: A vehicle with ID 45 is 17.7 meters away at (13.3, -11.7). A unknown object with ID 48 is 21.5 meters away at (12.3, -17.7). A vehicle with ID 49 is 24.2 meters away at (19.8, -14.0). A vehicle with ID 61 is 29.7 meters away at (4.1, 29.5). A vehicle with ID 40 is 31.8 meters away at (-29.6, -11.6). A vehicle with ID 57 is 32.2 meters away at (27.1, -17.4). A vehicle with ID 63 is 33.5 meters away at (-30.9, 13.1). A vehicle with ID 62 is 36.2 meters away at (8.6, 35.2). A vehicle with ID 41 is 36.7 meters away at (-27.2, -24.7). A vehicle with ID 79 is 36.8 meters away at (18.9, 31.6).

The vehicle with ID 45 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 49 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 40 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 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -1.0) m/s. Its current heading (yaw) is -2.94

The most relevant actors are: A vehicle with ID 40 is 23.3 meters away at (-20.1, -11.9). A vehicle with ID 63 is 24.8 meters away at (-21.2, 12.9). A vehicle with ID 45 is 25.8 meters away at (22.9, -12.0). A vehicle with ID 39 is 29.7 meters away at (-24.4, -17.0). A vehicle with ID 41 is 30.6 meters away at (-17.8, -25.0). A vehicle with ID 61 is 32.2 meters away at (13.8, 29.1). A vehicle with ID 49 is 32.8 meters away at (29.5, -14.4). A vehicle with ID 70 is 32.8 meters away at (-29.0, 15.4). A vehicle with ID 44 is 37.6 meters away at (-22.5, -30.1). A unknown object with ID 56 is 37.8 meters away at (24.8, 28.4).

The vehicle with ID 40 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 45 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 61 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 70 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.4) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 40 is 13.1 meters away at (-10.8, -7.4). A vehicle with ID 39 is 19.7 meters away at (-15.2, -12.5). A vehicle with ID 63 is 21.1 meters away at (-12.0, 17.4). A vehicle with ID 41 is 22.1 meters away at (-8.4, -20.4). A vehicle with ID 70 is 27.9 meters away at (-19.6, 19.9). A unknown object with ID 42 is 28.5 meters away at (22.6, 17.5). A vehicle with ID 44 is 28.7 meters away at (-13.1, -25.6). A unknown object with ID 43 is 29.5 meters away at (22.5, 19.0). A pedestrian with ID 26 is 31.4 meters away at (24.8, 19.3). A vehicle with ID 74 is 31.9 meters away at (-29.3, 12.6).

The vehicle with ID 40 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 63 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04117151 -0.01612786] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A vehicle with ID 3 is 4.6 meters away at (-3.6, 2.9). A vehicle with ID 20 is 15.9 meters away at (-2.5, 15.7). A unknown object with ID 18 is 23.4 meters away at (-14.1, -18.6). A vehicle with ID 21 is 26.7 meters away at (-4.6, 26.3). A pedestrian with ID 10 is 35.7 meters away at (-17.4, -31.2). A pedestrian with ID 12 is 36.2 meters away at (-18.1, -31.4). A vehicle with ID 23 is 48.6 meters away at (-10.8, 47.4). A vehicle with ID 22 is 58.3 meters away at (48.9, -31.9). A vehicle with ID 25 is 63.6 meters away at (-16.4, 61.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.14947036 -1.171085  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.7663636 -4.2317815] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.2409166 -5.200087 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.04465052 -1.0625978 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.01691236 -1.1035898 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.0475233 -5.2833543] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.7980247   0.12195595] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.0053928 -6.9282985] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.7) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (-3.3, -1.3). A vehicle with ID 20 is 11.6 meters away at (-1.7, 11.5). A vehicle with ID 21 is 20.9 meters away at (-3.1, 20.7). A unknown object with ID 18 is 21.4 meters away at (-14.4, -15.8). A pedestrian with ID 10 is 35.7 meters away at (-17.7, -31.0). A pedestrian with ID 12 is 36.2 meters away at (-18.4, -31.2). A vehicle with ID 23 is 41.1 meters away at (-7.9, 40.4). A vehicle with ID 22 is 44.8 meters away at (34.1, -29.1). A vehicle with ID 25 is 53.4 meters away at (-11.8, 52.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.26363263 -5.6137085 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.49880138 -3.3230004 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.6242476 -3.4230998] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.01625804 -1.2906601 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02198861 -1.2805902 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 1.3502009 -4.563091 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.6186595 -0.067241 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.0174024 -5.299885 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -4.7) m/s. Its current heading (yaw) is -1.49

The most relevant actors are: A vehicle with ID 3 is 9.2 meters away at (-3.6, -8.5). A vehicle with ID 20 is 11.7 meters away at (-1.4, 11.7). A unknown object with ID 18 is 17.4 meters away at (-15.1, -8.5). A vehicle with ID 21 is 22.3 meters away at (-2.9, 22.1). A vehicle with ID 22 is 30.4 meters away at (21.3, -21.7). A pedestrian with ID 10 is 32.1 meters away at (-18.5, -26.2). A pedestrian with ID 12 is 32.7 meters away at (-19.3, -26.4). A vehicle with ID 23 is 40.0 meters away at (-6.5, 39.5). A vehicle with ID 25 is 50.7 meters away at (-9.3, 49.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.11508565 -8.918983  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.5415694 -4.0983562] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.5277389 -3.3616874] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.2461834  -0.12003363] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.05195026 -1.2801731 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.11901525 -1.3071095 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.9294345 -3.8294077] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.3553613 -4.233124 ] m/s.

There are active red lights at the following coordinates: [[  7.008286  -32.250336 ]
 [  7.3267665 -33.80553  ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.8) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 20 is 13.4 meters away at (-0.5, 13.4). A unknown object with ID 18 is 15.7 meters away at (-15.6, 2.0). A vehicle with ID 22 is 17.2 meters away at (12.7, -11.7). A vehicle with ID 3 is 18.3 meters away at (-4.5, -17.8). A vehicle with ID 21 is 24.9 meters away at (-2.2, 24.8). A pedestrian with ID 10 is 26.6 meters away at (-19.3, -18.3). A pedestrian with ID 12 is 27.2 meters away at (-19.9, -18.5). A vehicle with ID 23 is 42.4 meters away at (-5.3, 42.0). A vehicle with ID 25 is 53.0 meters away at (-7.6, 52.5).

The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.2254808 -4.8004603] m/s.The unknown object with ID 18 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 [-2.4784343 -0.3339509] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.67801976 -10.571203  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.59120417 -4.6793685 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.1241438 -1.3472254] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00258457 -1.302355  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.8920154 -4.659936 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.0507712 -3.8932228] m/s.

There are active red lights at the following coordinates: [[  7.008286  -32.250336 ]
 [  7.3267665 -33.80553  ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.0) m/s. Its current heading (yaw) is -0.46

The most relevant actors are: A pedestrian with ID 46 is 19.2 meters away at (14.2, -13.0). A pedestrian with ID 20 is 43.7 meters away at (1.5, -43.7).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.82869804  0.41998932] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.5557338  0.42205808] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -3.3) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 46 is 5.7 meters away at (0.3, -5.7). A pedestrian with ID 20 is 38.9 meters away at (-11.0, -37.3). A vehicle with ID 19 is 71.9 meters away at (30.6, -65.1). A vehicle with ID 21 is 74.1 meters away at (29.7, -67.9). A vehicle with ID 44 is 76.4 meters away at (29.3, -70.6).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.7772815   0.42603132] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01566331  0.01085197] m/s.The vehicle with ID 19 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 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 (6.0, -3.3) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A pedestrian with ID 46 is 13.8 meters away at (-13.6, 1.9). A vehicle with ID 19 is 61.3 meters away at (18.5, -58.5). A vehicle with ID 21 is 63.8 meters away at (17.7, -61.3). A vehicle with ID 44 is 66.2 meters away at (17.2, -63.9). A vehicle with ID 15 is 71.2 meters away at (30.7, -64.2). A vehicle with ID 25 is 71.2 meters away at (16.3, -69.3).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.8923703  0.4322519] m/s.The vehicle with ID 19 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 44 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 25 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 (6.1, -3.5) m/s. Its current heading (yaw) is -0.52

The most relevant actors are: A pedestrian with ID 46 is 29.1 meters away at (-27.5, 9.4). A pedestrian with ID 24 is 42.7 meters away at (-35.2, -24.1). A vehicle with ID 19 is 52.1 meters away at (6.4, -51.7). A vehicle with ID 21 is 54.8 meters away at (5.6, -54.5). A vehicle with ID 44 is 57.4 meters away at (4.9, -57.2). A vehicle with ID 15 is 60.3 meters away at (18.5, -57.4). A vehicle with ID 25 is 62.6 meters away at (4.1, -62.5). A unknown object with ID 37 is 65.2 meters away at (64.7, -8.0). A vehicle with ID 28 is 73.5 meters away at (2.9, -73.4).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.8490709   0.41512796] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [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 44 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 25 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -4.9) m/s. Its current heading (yaw) is -1.68

The most relevant actors are: A pedestrian with ID 15 is 6.2 meters away at (-5.4, -3.1). A unknown object with ID 16 is 9.4 meters away at (-9.4, -0.6). A unknown object with ID 13 is 11.4 meters away at (-8.2, 8.0). A pedestrian with ID 14 is 11.5 meters away at (-9.8, 6.0). A vehicle with ID 22 is 21.6 meters away at (7.1, -20.4). A vehicle with ID 21 is 25.9 meters away at (24.1, -9.6). A unknown object with ID 17 is 37.1 meters away at (-0.4, 37.1). A unknown object with ID 18 is 39.2 meters away at (-0.1, 39.2). A unknown object with ID 20 is 39.3 meters away at (0.5, 39.3).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.09127029 -0.0898489 ] 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 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 [ 0.1123775  -0.09530181] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -4.6) m/s. Its current heading (yaw) is -1.70

The most relevant actors are: A pedestrian with ID 15 is 7.5 meters away at (-4.2, 6.2). A unknown object with ID 16 is 11.9 meters away at (-8.1, 8.6). A vehicle with ID 22 is 13.8 meters away at (8.4, -11.0). A pedestrian with ID 14 is 17.5 meters away at (-8.6, 15.3). A unknown object with ID 13 is 18.6 meters away at (-7.0, 17.3). A vehicle with ID 21 is 25.3 meters away at (25.3, -0.2). A unknown object with ID 17 is 46.3 meters away at (0.8, 46.3). A unknown object with ID 18 is 48.4 meters away at (0.9, 48.4). A unknown object with ID 20 is 48.5 meters away at (1.7, 48.5).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.06347392  0.17859879] m/s.The unknown object with ID 16 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 pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00785319  0.07323854] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -6.1) m/s. Its current heading (yaw) is -1.70

The most relevant actors are: A vehicle with ID 22 is 9.9 meters away at (9.9, -0.1). A pedestrian with ID 15 is 17.5 meters away at (-3.0, 17.3). A unknown object with ID 16 is 20.7 meters away at (-6.7, 19.6). A pedestrian with ID 14 is 27.1 meters away at (-7.1, 26.1). A unknown object with ID 13 is 28.7 meters away at (-5.6, 28.2). A vehicle with ID 21 is 28.9 meters away at (26.8, 10.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.05496179  0.07947214] m/s.The unknown object with ID 16 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 [-0.00537397  0.02181093] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -7.6) m/s. Its current heading (yaw) is -1.71

The most relevant actors are: A vehicle with ID 22 is 18.2 meters away at (11.8, 13.8). A unknown object with ID 16 is 33.8 meters away at (-4.9, 33.4). A vehicle with ID 21 is 37.8 meters away at (28.7, 24.6). A pedestrian with ID 14 is 40.4 meters away at (-5.3, 40.0). A unknown object with ID 13 is 42.2 meters away at (-3.8, 42.1). A unknown object with ID 6 is 45.8 meters away at (-8.0, 45.1).

The vehicle with ID 22 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 21 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 [0.00445739 0.01482298] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A vehicle with ID 28 is 8.4 meters away at (3.8, 7.5). A pedestrian with ID 35 is 16.0 meters away at (-5.9, -14.9). A pedestrian with ID 32 is 16.9 meters away at (-6.7, -15.5). A cyclist with ID 23 is 20.0 meters away at (-19.9, -2.3). A vehicle with ID 30 is 20.3 meters away at (-4.0, -19.9). A vehicle with ID 24 is 20.3 meters away at (12.4, 16.1). A cyclist with ID 38 is 20.9 meters away at (-17.1, -11.9). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).

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 [-0.25958937 -2.3930433 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1679332  1.1037041] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0945196  -0.82214123] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [-5.796487    0.00590575] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.7548823 4.628072 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [1.8555553 3.564184 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.00197592 -0.00139455] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A vehicle with ID 30 is 8.1 meters away at (2.1, -7.9). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 15.3 meters away at (-8.3, -12.8). A pedestrian with ID 32 is 17.4 meters away at (-4.0, -16.9). A cyclist with ID 38 is 20.9 meters away at (-17.1, -11.9). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8). A unknown object with ID 44 is 22.9 meters away at (-20.8, -9.7).

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 30 is traveling at a (x, y) velocity of [3.144556  6.9981976] m/s.The unknown object with ID 14 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 [-1.0044725  1.0269495] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.4242527  -0.72407025] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [0.01077697 0.01023138] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A unknown object with ID 13 is 9.8 meters away at (-8.7, 4.7). A vehicle with ID 30 is 10.7 meters away at (8.4, 6.7). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 15.5 meters away at (-10.9, -11.1). A pedestrian with ID 32 is 18.7 meters away at (-1.5, -18.6). A cyclist with ID 38 is 20.9 meters away at (-17.1, -12.0). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).

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 unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [3.3070874 7.2466555] m/s.The unknown object with ID 14 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 [-1.266851   0.6914913] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1257124 -0.9621804] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.00774969  0.00104006] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A unknown object with ID 13 is 9.8 meters away at (-8.7, 4.6). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 16.9 meters away at (-13.4, -10.3). A pedestrian with ID 32 is 19.6 meters away at (0.6, -19.6). A cyclist with ID 38 is 20.9 meters away at (-17.1, -12.0). A vehicle with ID 64 is 22.0 meters away at (-5.4, -21.4). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).

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 unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.9806597   0.13588111] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.1071311  0.35578522] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.01163274  0.01062193] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [2.9832995 5.7971416] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 (5.6, -6.5) m/s. Its current heading (yaw) is -0.87

The most relevant actors are: A vehicle with ID 12 is 20.4 meters away at (10.3, -17.6). A vehicle with ID 10 is 25.4 meters away at (-18.7, 17.2). A vehicle with ID 14 is 26.1 meters away at (14.4, -21.8). A unknown object with ID 8 is 39.9 meters away at (-29.7, 26.7). A vehicle with ID 11 is 46.8 meters away at (-24.9, 39.6). A vehicle with ID 13 is 55.3 meters away at (-37.4, 40.8). A vehicle with ID 4 is 57.3 meters away at (34.7, -45.6). A vehicle with ID 3 is 69.8 meters away at (49.8, -49.0). A vehicle with ID 15 is 72.4 meters away at (-47.6, 54.5). A unknown object with ID 16 is 76.5 meters away at (-43.0, 63.3).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 4 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -6.8) m/s. Its current heading (yaw) is -0.85

The most relevant actors are: A vehicle with ID 12 is 4.3 meters away at (-1.0, -4.2). A vehicle with ID 14 is 8.9 meters away at (3.0, -8.4). A vehicle with ID 4 is 39.8 meters away at (23.2, -32.3). A vehicle with ID 10 is 42.8 meters away at (-30.1, 30.5). A vehicle with ID 3 is 52.5 meters away at (38.4, -35.8). A vehicle with ID 11 is 64.2 meters away at (-36.4, 52.9). A vehicle with ID 2 is 68.9 meters away at (49.3, -48.2). A vehicle with ID 13 is 72.9 meters away at (-48.9, 54.1).

The vehicle with ID 12 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 vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -7.3) m/s. Its current heading (yaw) is -0.86

The most relevant actors are: A vehicle with ID 14 is 10.6 meters away at (-9.0, 5.7). A vehicle with ID 12 is 16.5 meters away at (-13.1, 10.0). A vehicle with ID 4 is 21.2 meters away at (11.2, -18.0). A vehicle with ID 3 is 34.0 meters away at (26.3, -21.5). A vehicle with ID 2 is 50.4 meters away at (37.2, -34.0). A vehicle with ID 10 is 61.5 meters away at (-42.2, 44.7).

The vehicle with ID 14 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 4 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 10 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 (6.8, -7.7) m/s. Its current heading (yaw) is -0.85

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-1.6, -3.0). A vehicle with ID 3 is 14.9 meters away at (13.4, -6.4). A vehicle with ID 14 is 30.1 meters away at (-21.9, 20.7). A vehicle with ID 2 is 30.9 meters away at (24.4, -18.9). A vehicle with ID 12 is 36.2 meters away at (-26.0, 25.1). A cyclist with ID 1 is 70.1 meters away at (39.1, -58.2).

The vehicle with ID 4 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 14 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-1.5543416  2.496857 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A unknown object with ID 44 is 5.1 meters away at (-4.9, 1.3). A unknown object with ID 28 is 12.7 meters away at (-8.0, 9.9). A vehicle with ID 43 is 20.1 meters away at (-18.9, 7.0). A pedestrian with ID 38 is 20.6 meters away at (-9.7, 18.2). A vehicle with ID 47 is 20.9 meters away at (19.2, 8.2). A vehicle with ID 49 is 22.9 meters away at (22.6, -3.7). A pedestrian with ID 45 is 25.7 meters away at (25.6, 1.0). A vehicle with ID 46 is 27.1 meters away at (27.0, 2.8). A vehicle with ID 39 is 29.9 meters away at (-13.6, 26.6). A unknown object with ID 31 is 30.3 meters away at (-29.9, 4.7).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 [-0.01839463  0.00546861] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.00376362 0.08307123] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.8703947  1.3396535], 5.051278591156006 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A unknown object with ID 44 is 3.9 meters away at (-3.8, 0.6). A unknown object with ID 28 is 11.4 meters away at (-7.0, 9.0). A vehicle with ID 43 is 18.9 meters away at (-17.9, 6.1). A pedestrian with ID 38 is 19.4 meters away at (-8.7, 17.3). A vehicle with ID 47 is 21.5 meters away at (20.2, 7.3). A vehicle with ID 49 is 24.0 meters away at (23.6, -4.7). A pedestrian with ID 14 is 24.6 meters away at (24.1, -5.1). A pedestrian with ID 45 is 26.2 meters away at (26.2, -0.2). A vehicle with ID 46 is 28.1 meters away at (28.0, 1.9). A vehicle with ID 39 is 28.6 meters away at (-12.6, 25.7).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 [ 0.00909733 -0.00400062] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00988842 -0.013871  ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.26899424 -0.5442971 ] 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.2) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A unknown object with ID 44 is 2.4 meters away at (-2.3, -0.8). A vehicle with ID 43 is 16.9 meters away at (-16.2, 4.8). A pedestrian with ID 38 is 17.5 meters away at (-7.0, 16.0). A vehicle with ID 47 is 22.7 meters away at (21.9, 5.9). A vehicle with ID 49 is 25.9 meters away at (25.2, -6.0). A vehicle with ID 39 is 26.8 meters away at (-10.8, 24.5). A pedestrian with ID 14 is 26.8 meters away at (25.9, -6.6). A pedestrian with ID 45 is 26.9 meters away at (26.7, -3.5). A unknown object with ID 13 is 27.3 meters away at (-27.2, 2.7). A vehicle with ID 46 is 29.7 meters away at (29.7, 0.5).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01663853 -0.01223256] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 [ 0.11691762 -0.01538041] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5615819 -0.7295531] m/s.The unknown object with ID 13 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.2861028 -0.847363 ], 2.438091516494751 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.3) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A unknown object with ID 30 is 5.0 meters away at (2.7, -4.2). A vehicle with ID 43 is 11.5 meters away at (-11.5, 1.2). A pedestrian with ID 38 is 12.6 meters away at (-2.2, 12.4). A unknown object with ID 7 is 18.2 meters away at (-17.4, 5.3). A unknown object with ID 6 is 19.6 meters away at (-18.9, 5.4). A vehicle with ID 39 is 21.7 meters away at (-6.1, 20.8). A unknown object with ID 42 is 26.1 meters away at (-20.5, 16.1). A vehicle with ID 47 is 26.8 meters away at (26.7, 2.3). A unknown object with ID 41 is 27.5 meters away at (-20.8, 18.0). A unknown object with ID 40 is 29.7 meters away at (-21.8, 20.2).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00185313 -0.0014158 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.6760774 -4.1661243], 4.951563835144043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 55 is 13.6 meters away at (10.0, 9.2). A vehicle with ID 59 is 18.6 meters away at (11.3, 14.8). A vehicle with ID 52 is 19.3 meters away at (-11.9, 15.2). A vehicle with ID 9 is 20.2 meters away at (15.2, -13.3). A vehicle with ID 57 is 20.3 meters away at (-10.4, -17.5). A vehicle with ID 56 is 22.9 meters away at (20.5, 10.1). A vehicle with ID 60 is 24.8 meters away at (15.5, 19.4). A unknown object with ID 61 is 25.3 meters away at (-17.5, -18.3). A vehicle with ID 53 is 26.2 meters away at (-17.2, 19.8). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.3516254  4.4934506] m/s.The vehicle with ID 57 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 unknown object with ID 61 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 19 is traveling at a (x, y) velocity of [-6.152627   4.9938684] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 52 is 5.0 meters away at (0.0, 5.0). A vehicle with ID 53 is 10.7 meters away at (-5.0, 9.5). A unknown object with ID 48 is 21.0 meters away at (-20.9, -1.8). A vehicle with ID 9 is 21.7 meters away at (16.3, -14.2). A vehicle with ID 55 is 22.0 meters away at (22.0, -1.1). A vehicle with ID 59 is 23.8 meters away at (23.3, 4.7). A vehicle with ID 57 is 27.7 meters away at (1.6, -27.7). A vehicle with ID 23 is 27.8 meters away at (-18.4, 20.8). A unknown object with ID 61 is 29.0 meters away at (-5.5, -28.5). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 [-5.659392   4.7837157] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.061419  5.358162] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 53 is 6.7 meters away at (6.7, -0.5). A vehicle with ID 23 is 12.6 meters away at (-6.5, 10.8). A vehicle with ID 52 is 12.8 meters away at (11.8, -5.1). A vehicle with ID 12 is 20.7 meters away at (-12.9, 16.2). A vehicle with ID 9 is 22.0 meters away at (16.6, -14.5). A vehicle with ID 19 is 32.6 meters away at (-24.8, 21.2). A vehicle with ID 7 is 33.7 meters away at (-22.8, 24.8). A unknown object with ID 61 is 39.1 meters away at (6.4, -38.6). A vehicle with ID 5 is 40.1 meters away at (-27.7, 29.0). A vehicle with ID 57 is 40.1 meters away at (13.5, -37.8).

The vehicle with ID 53 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 52 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 9 is traveling at a (x, y) velocity of [-5.8758698  4.9965262] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.8310266  5.023301 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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.

There are active red lights at the following coordinates: [[-16.249577    1.5028499]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 23 is 5.0 meters away at (4.9, 1.0). A vehicle with ID 12 is 6.6 meters away at (-1.4, 6.5). A pedestrian with ID 41 is 16.5 meters away at (-13.2, -9.9). A vehicle with ID 7 is 18.9 meters away at (-11.4, 15.1). A vehicle with ID 11 is 19.1 meters away at (-18.0, -6.4). A vehicle with ID 53 is 20.9 meters away at (18.1, -10.4). A vehicle with ID 9 is 21.6 meters away at (16.2, -14.2). A vehicle with ID 13 is 24.0 meters away at (-21.9, -9.9). A vehicle with ID 5 is 25.1 meters away at (-16.2, 19.2). A vehicle with ID 52 is 27.6 meters away at (23.2, -14.9).

The vehicle with ID 23 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 41 is traveling at a (x, y) velocity of [-0.03104782 -0.06492417] m/s.The vehicle with ID 7 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 53 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 [-5.885884   4.9821734] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 (9.4, -6.9) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A pedestrian with ID 72 is 12.6 meters away at (-2.0, -12.4). A pedestrian with ID 73 is 17.2 meters away at (10.8, 13.4). A cyclist with ID 76 is 17.8 meters away at (17.3, 4.2). A pedestrian with ID 70 is 21.2 meters away at (-0.8, 21.2). A vehicle with ID 66 is 22.6 meters away at (-20.9, 8.6). A pedestrian with ID 77 is 25.3 meters away at (25.3, -1.2). A pedestrian with ID 75 is 26.1 meters away at (25.8, 4.0). A pedestrian with ID 67 is 28.4 meters away at (-27.4, 7.7). A pedestrian with ID 68 is 29.1 meters away at (-28.1, 7.3). A pedestrian with ID 69 is 37.2 meters away at (-18.8, 32.1).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.493189   -0.98257655] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.0972625   0.72531694] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-3.3741808  2.2674406] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0545512  0.6959067] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 4.3846645 -2.338886 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0029169 -1.4956161] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 1.2444621 -0.7607248] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1233888  0.818655 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.1064453  0.7720878] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.3000344  -0.89571303] m/s.

There are active red lights at the following coordinates: [[ 55.35232  -14.88887 ]
 [ 55.337822 -14.880213]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -6.8) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A pedestrian with ID 77 is 9.3 meters away at (3.3, 8.7). A pedestrian with ID 72 is 18.1 meters away at (-18.1, -0.5). A pedestrian with ID 75 is 19.4 meters away at (9.2, 17.1). A pedestrian with ID 79 is 21.4 meters away at (6.2, -20.5). A unknown object with ID 46 is 23.2 meters away at (21.3, 9.1). A cyclist with ID 76 is 23.9 meters away at (-8.1, 22.5). A vehicle with ID 55 is 28.2 meters away at (20.6, 19.2). A pedestrian with ID 80 is 28.7 meters away at (16.8, -23.2). A pedestrian with ID 73 is 30.4 meters away at (-10.4, 28.6). A unknown object with ID 30 is 33.0 meters away at (-3.4, -32.8).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.4600892 -2.3262475] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.4938911 -0.9564541] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.1164917  0.08479139] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.93615115  0.6564757 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-2.9953332  2.2198572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.91770345 0.32268986] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.1046957   0.72091454] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [3.2787666 8.68564  ], 9.283892631530762 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, -6.6) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A pedestrian with ID 80 is 9.3 meters away at (-0.9, -9.3). A vehicle with ID 33 is 13.6 meters away at (13.5, 2.1). A pedestrian with ID 79 is 16.4 meters away at (-15.3, -5.9). A vehicle with ID 62 is 18.2 meters away at (11.2, -14.4). A unknown object with ID 46 is 22.6 meters away at (1.8, 22.6). A vehicle with ID 22 is 24.2 meters away at (16.5, -17.7). A pedestrian with ID 77 is 26.1 meters away at (-18.9, 18.1). A vehicle with ID 48 is 30.5 meters away at (-22.4, -20.8). A vehicle with ID 56 is 30.6 meters away at (21.6, -21.7). A vehicle with ID 55 is 32.6 meters away at (1.2, 32.6).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.72477806 0.00387801] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.4793406  1.6141554] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.82951665  0.65236455] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.2320832 -2.2146597] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 (9.5, -6.3) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 47 is 5.2 meters away at (-2.9, 4.3). A vehicle with ID 22 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 8.3 meters away at (-8.2, -1.5). A vehicle with ID 56 is 9.1 meters away at (2.3, -8.8). A vehicle with ID 21 is 14.9 meters away at (8.2, -12.5). A vehicle with ID 58 is 16.6 meters away at (16.0, 4.4). A vehicle with ID 33 is 18.0 meters away at (-7.9, 16.2). A pedestrian with ID 80 is 19.3 meters away at (-18.6, 5.1). A vehicle with ID 19 is 21.7 meters away at (14.2, -16.4). A pedestrian with ID 18 is 24.8 meters away at (12.0, -21.7).

The unknown object with ID 47 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 62 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 21 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 [-6.1755047  4.053451 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.8302587 1.123173 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.81987095 -0.6296174 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.880684   4.2752075], 5.155166149139404 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.34

The most relevant actors are: A pedestrian with ID 60 is 13.9 meters away at (-9.2, -10.4). A pedestrian with ID 61 is 20.1 meters away at (-11.5, -16.4). A pedestrian with ID 62 is 20.7 meters away at (-12.9, -16.2). A pedestrian with ID 59 is 29.0 meters away at (28.1, 7.2). A pedestrian with ID 63 is 31.7 meters away at (-10.6, -29.8). A pedestrian with ID 64 is 42.0 meters away at (41.9, -1.3). A unknown object with ID 65 is 42.1 meters away at (42.0, -2.4). A unknown object with ID 57 is 42.5 meters away at (42.1, -5.9). A unknown object with ID 5 is 43.7 meters away at (43.1, -7.4). A vehicle with ID 66 is 44.2 meters away at (-4.6, -43.9).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-4.7206126e-05  1.2802361e+00] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.54783374 0.01706585] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.18205218 0.09469869] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.0027572  -0.00067073] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00795819 -0.00820469] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.00252178 -0.01225339] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.5) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A pedestrian with ID 60 is 13.2 meters away at (-9.4, -9.2). A pedestrian with ID 61 is 21.0 meters away at (-11.0, -17.9). A pedestrian with ID 59 is 28.4 meters away at (27.7, 6.3). A pedestrian with ID 63 is 32.9 meters away at (-10.6, -31.1). A unknown object with ID 9 is 41.5 meters away at (41.3, -4.6). A pedestrian with ID 64 is 41.7 meters away at (41.6, -2.0). A unknown object with ID 65 is 41.8 meters away at (41.7, -3.0). A unknown object with ID 55 is 42.0 meters away at (41.9, -2.9). A unknown object with ID 57 is 42.3 meters away at (41.7, -6.7). A pedestrian with ID 39 is 42.4 meters away at (42.3, -1.6).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00967975 1.1887845 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.34167343 0.02004788] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.00847488  0.00402652] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.0279291 -0.0351178] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00790127  0.03712222] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.01472138 0.10398811] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [-9.41956  -9.244788], 13.19826602935791 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 0.9) m/s. Its current heading (yaw) is 0.35

The most relevant actors are: A pedestrian with ID 60 is 16.0 meters away at (-12.7, -9.7). A pedestrian with ID 59 is 24.5 meters away at (24.3, 3.3). A pedestrian with ID 61 is 25.4 meters away at (-14.4, -20.9). A pedestrian with ID 63 is 36.9 meters away at (-14.2, -34.1). A unknown object with ID 9 is 38.6 meters away at (37.8, -7.7). A unknown object with ID 65 is 38.7 meters away at (38.3, -6.1). A pedestrian with ID 64 is 38.8 meters away at (38.6, -3.7). A unknown object with ID 12 is 38.9 meters away at (38.5, -5.8). A unknown object with ID 55 is 39.1 meters away at (38.6, -6.1). A pedestrian with ID 39 is 39.3 meters away at (39.1, -3.4).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.02849605  1.3163468 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00526624 -0.01291506] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.00431116  0.00966582] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.04153723  0.00460123] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.2659575  0.49905068] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19939   0.6217406] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -1.2) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A pedestrian with ID 59 is 18.2 meters away at (17.9, 3.4). A pedestrian with ID 60 is 20.5 meters away at (-19.3, -6.9). A pedestrian with ID 36 is 22.8 meters away at (22.7, 1.6). A pedestrian with ID 61 is 29.4 meters away at (-21.1, -20.4). A unknown object with ID 9 is 32.3 meters away at (31.3, -7.8). A unknown object with ID 65 is 32.4 meters away at (31.8, -6.3). A pedestrian with ID 64 is 32.5 meters away at (32.4, -2.5). A unknown object with ID 12 is 32.6 meters away at (32.1, -5.9). A pedestrian with ID 39 is 33.0 meters away at (32.9, -2.1). A unknown object with ID 57 is 33.3 meters away at (31.8, -9.9).

The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00030206 -0.00856819] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00268578 1.2715431 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00957467 -0.02227692] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.11009191  0.06145162] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0966654  0.34278542] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.22001436 0.5825719 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.6) m/s. Its current heading (yaw) is -0.54

The most relevant actors are: A unknown object with ID 45 is 10.1 meters away at (-8.2, -6.0). A unknown object with ID 49 is 10.5 meters away at (-6.9, -7.9). A unknown object with ID 39 is 11.0 meters away at (-9.9, -4.8). A unknown object with ID 50 is 12.2 meters away at (-7.0, -10.0). A unknown object with ID 48 is 13.8 meters away at (-8.5, -10.9). A unknown object with ID 47 is 14.1 meters away at (-10.1, -9.8). A unknown object with ID 66 is 20.1 meters away at (-19.9, 2.7). A unknown object with ID 68 is 22.1 meters away at (-21.7, 4.1). A unknown object with ID 71 is 23.8 meters away at (-23.2, 5.4). A unknown object with ID 52 is 25.7 meters away at (-24.8, 6.7).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-8.169078  -5.9614806], 10.113016128540039 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 45 is 10.3 meters away at (-8.7, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.6). A unknown object with ID 50 is 12.1 meters away at (-7.4, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.4, 3.0). A unknown object with ID 68 is 22.6 meters away at (-22.1, 4.4). A unknown object with ID 71 is 24.4 meters away at (-23.7, 5.7). A unknown object with ID 75 is 26.6 meters away at (-25.6, 7.2). A unknown object with ID 54 is 27.0 meters away at (-26.9, 1.2). A unknown object with ID 80 is 27.7 meters away at (-26.5, 8.1). A unknown object with ID 56 is 29.9 meters away at (-28.4, 9.4).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-59.207985  40.930557]
 [-59.48503   40.56896 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-8.705674  -5.5882397], 10.344911575317383 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.5). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A unknown object with ID 50 is 12.1 meters away at (-7.5, -9.5). A vehicle with ID 105 is 20.3 meters away at (15.2, -13.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 [-5.213357   1.5477434] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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.

There are active red lights at the following coordinates: [[-59.207985  40.930557]
 [-59.48503   40.56896 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-8.772827 -5.538227], 10.374702453613281 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A vehicle with ID 105 is 10.6 meters away at (4.6, -9.5). A unknown object with ID 50 is 12.2 meters away at (-7.5, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [-5.447596   2.3352354] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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.

There are active red lights at the following coordinates: [[-59.207985  40.930557]
 [-59.48503   40.56896 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-8.755107 -5.552437], 10.367325782775879 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 16 is 13.9 meters away at (4.4, -13.1). A unknown object with ID 18 is 18.2 meters away at (9.1, -15.7). A unknown object with ID 19 is 44.2 meters away at (-42.1, 13.4). A unknown object with ID 20 is 46.7 meters away at (-43.6, 16.7). A vehicle with ID 22 is 51.6 meters away at (44.5, 26.3). A pedestrian with ID 23 is 61.8 meters away at (-49.2, 37.3). A unknown object with ID 12 is 62.8 meters away at (-46.6, 42.1). A pedestrian with ID 25 is 75.0 meters away at (-56.7, 49.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03444428 -0.04822557] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.08653574  0.06913288] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.1) m/s. Its current heading (yaw) is -1.34

The most relevant actors are: A vehicle with ID 16 is 9.4 meters away at (1.7, -9.3). A unknown object with ID 18 is 13.4 meters away at (6.4, -11.8). A unknown object with ID 19 is 48.1 meters away at (-45.0, 16.9). A unknown object with ID 20 is 50.7 meters away at (-46.5, 20.1). A vehicle with ID 22 is 51.4 meters away at (41.6, 30.3). A vehicle with ID 4 is 52.4 meters away at (-36.9, -37.2). A pedestrian with ID 23 is 66.3 meters away at (-52.2, 40.9). A unknown object with ID 12 is 67.6 meters away at (-49.8, 45.8).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.02858299 -0.00519595] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.9) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 16 is 4.0 meters away at (3.5, -2.1). A unknown object with ID 15 is 18.2 meters away at (4.8, 17.5). A vehicle with ID 4 is 46.1 meters away at (-35.2, -29.7). A vehicle with ID 22 is 57.4 meters away at (43.7, 37.2). A vehicle with ID 2 is 68.1 meters away at (-50.8, -45.3). A pedestrian with ID 23 is 69.7 meters away at (-50.0, 48.5). A vehicle with ID 1 is 78.4 meters away at (-57.9, -52.8).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.12076696 0.12057264] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -5.8) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 16 is 13.5 meters away at (11.1, 7.7). A unknown object with ID 15 is 30.2 meters away at (12.6, 27.4). A vehicle with ID 4 is 34.0 meters away at (-27.7, -19.8). A vehicle with ID 2 is 56.0 meters away at (-43.3, -35.4). A vehicle with ID 1 is 66.2 meters away at (-50.4, -42.9). A pedestrian with ID 3 is 69.3 meters away at (-53.4, -44.1). A vehicle with ID 22 is 69.5 meters away at (51.4, 46.9).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 [ 0.05181491 -0.04634301] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.4) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A vehicle with ID 11 is 32.0 meters away at (9.0, 30.7). A vehicle with ID 12 is 65.9 meters away at (-1.9, -65.8).

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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.3) m/s. Its current heading (yaw) is -1.55

The most relevant actors are: A vehicle with ID 12 is 63.1 meters away at (-2.0, -63.1).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.9) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A pedestrian with ID 1 is 32.4 meters away at (-13.8, -29.3). A vehicle with ID 12 is 62.3 meters away at (-2.0, -62.3).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.3993902 -0.0113449] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -3.6) m/s. Its current heading (yaw) is -1.51

The most relevant actors are: A pedestrian with ID 1 is 26.7 meters away at (-10.7, -24.4). A cyclist with ID 7 is 37.9 meters away at (9.0, 36.9). A vehicle with ID 12 is 57.6 meters away at (-2.2, -57.6).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.5880508  0.13234274] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-0.00808737  0.0045343 ] m/s.The vehicle with ID 12 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, -1.0) m/s. Its current heading (yaw) is -2.77

The most relevant actors are: A unknown object with ID 23 is 3.0 meters away at (1.4, -2.6). A pedestrian with ID 6 is 4.3 meters away at (0.7, 4.2). A unknown object with ID 25 is 8.5 meters away at (8.1, 2.7). A unknown object with ID 32 is 23.1 meters away at (10.4, 20.6). A vehicle with ID 30 is 25.1 meters away at (6.0, 24.4). A vehicle with ID 29 is 29.5 meters away at (-0.3, 29.5). A vehicle with ID 31 is 30.5 meters away at (-10.9, 28.5). A vehicle with ID 39 is 41.3 meters away at (-20.1, 36.1). A vehicle with ID 40 is 49.2 meters away at (-18.6, 45.6).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00491362 -0.00632742] 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.3978622 -2.640065 ], 2.987300157546997 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.1) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A unknown object with ID 17 is 6.4 meters away at (0.1, -6.4). A unknown object with ID 23 is 7.4 meters away at (6.9, -2.7). A pedestrian with ID 6 is 7.4 meters away at (6.1, 4.2). A unknown object with ID 32 is 25.9 meters away at (15.9, 20.5). A vehicle with ID 30 is 26.9 meters away at (11.5, 24.3). A vehicle with ID 31 is 29.0 meters away at (-5.4, 28.5). A vehicle with ID 29 is 29.9 meters away at (5.3, 29.5). A vehicle with ID 40 is 47.2 meters away at (-12.9, 45.4).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03506949 0.00879005] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 0.05871677 -6.384904  ], 6.385173797607422 meters away.)